S4 Quattro Sedan V6-30L SC Transmission Control Module - TSB 371114
5. Select and perform the test plan Adaptation of clutch slip points (kiss points).
6. After completing the test plan, exit basic settings and return to Function/Component Selection.
7. Select Transmission Electronics, functions >> Adaptation drive. Follow the directions in the test plan to adapt the clutches.
8. When the adaptation drive is complete, perform a test drive to confirm the concern is gone.