Many forums discuss fixes that do not work. Only logical answer is that the Torque Converter is incorrectly designed for the engine. In Neutral or Park, idle is smooth, move to reverse, whole car shudders!, move to drive, same thing, come to a stop at a stop sign or stop light, car almost stalls then recovers and continues the heavy vibration until driving where everything smooth out again.

This is my second Audi and this is highly unacceptable for a luxury branded vehicle.