One problem related to noises during shifting has been reported for the 2010 Audi S4. The most recently reported issues are listed below.
Mechatronics unit failure in dsg transmission. Hard shifts from 1st to 2nd and 2nd to 1st while stopping. (vehicle makes loud drivetrain bang noise, shakes and stops abruptly when slowing down and trying to come to a stop, almost as if you slowed down to 5-10mph and then slammed on the brakes. ).