Manual Transmission problems of the 2004 Audi S4

I have a 2004 S4 which crunches when shifting into 2nd and 3rd gear. Audi replaced the synchros but the problem still persists. I have returned to the dealership numerous times but they keep telling me its normal. The crunches occurs everytime I drive it and also make it difficult to get into gear. The vehicles rpms will sometimes stick, keeping the vehicle moving when not under acceleration.