I have a meeting with a regional director of Audi re this issue on Friday of next week. There are many compliants about this "antio stall" feature on the forum, but I don't believe many people have actually reported it back to thier dealer. If you are irritated with the difficulty of smooth take off and smooth driving in stop/start traffic, then please let me know before next friday and I will pass this on. I don't know how to set up a proper pole on this site so either let me know by responding to this thread or possibly some other member in the know could set up a pole for me. Ideally I just need to know roughly where you are based in the world and how long you have had the car.
I have an A5 and do have jerkiness going from first to second. So, most of the time though, I try to shift from first to third which makes it a bit easier. Regardless, to avoid the jerkiness from a stop to first gear I am riding the clutch.