Just a quick thought: Oil change interval for the gearbox (at least for my A5S350 or GM code)don't know about the ZF is 38k miles ! or 50k something km. If that is done properly there shouldn't be any problems. Saved mine a few months before it was too late (stealership PRETENDED to have the fluid changed, and now, at 65k miles it started acting up.
Any fluid change is followed by a remap (recoding) don't know the exact word.
Any problems like jerky shifts are 90% solved by changing the solenoids or body valve, unless clutch problems (since made in USA, they are very cheap on ebay, have seen some for as little as 100 USD/80EUR/70 quid, interchangeable with Cadillacs and other sorts of 18 th century tech

(do pardon the sarcasm)
Gave me a LOT of trouble! Hope others will have avoided this
"What's in a name? That which we call a rose, By any other name would smell as sweet."
E53 3.0i Sport
Ducati 749 Dark (AKA - the rattle)
Previous: Merc 230 kompressor
Dacia Sandero :)))