Automatic Transmission problems of the 2009 Audi A4

Parked in an incline, I attempted to back out of a drive way. I placed my foot on the brake and placed the car in reverse and removed my foot from the brake. The vehicle went forward as if in neutral with no resistance at all. I stepped on the brake quickly to prevent from going through the garage door. Although I depressed the accelerator the car was not moving in reverse. I had to get the engine rpm up fairly high to get the car to move at all. It was like I had the parking brake on but if I let up on the accelerator, the car would again roll forward. When the car reached the top of the drive, it quickly grabbed and accelerated. I stepped on the brake quickly but not before I hit a retaining wall behind me. This type of hesitation has also been experienced when in drive. Depressing the accelerator does not produce immediate results. Then starts to increase rpm's an then the car lunges forward. I have returned it to the Audi dealer a few months ago for this exact problem. When the service man moved my car he immediately noticed the condition but it was returned to me "working as designed". For the next 2-3 months, the transmission was as responsive as any other auto but this has changed back to the way it was. Updated ivoq 10/26/10.