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Slight delay when shifting from park to drive on my Q5 - is this normal?

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So this is one of those things that I've been noticing more and more lately and I honestly can't remember if it's always been like this or if it's a new development that I should be concerned about. I have a 2016 Q5 2.0 TFSI with the ZF 8-speed and I've noticed that when I shift from park into drive, there's this noticeable delay of about one or two seconds before the gear actually engages and I feel the car pull forward. It's not a huge delay but it's definitely there, and when I shift into reverse it seems to engage almost instantly with no delay at all, which makes me think it's not just a general transmission issue but something specific to the forward gears. I've been driving the car for about two years now and I'm starting to wonder if this delay has been there the whole time and I just never paid attention to it, or if it's gradually gotten worse and I'm just now picking up on it. The car otherwise shifts perfectly fine once it's in gear, no jerking or hesitation or any other issues, just that initial delay when engaging drive from a stop. I've done some reading online and it seems like this could be anything from low fluid levels to a failing valve body to just normal behaviour for these transmissions, and I honestly don't know what to believe anymore. I came across auditransmissionrepair.ae while searching for information and it looks like they have quite detailed technical resources about ZF transmissions, which makes me think this might be something they'd be able to diagnose properly. Has anyone else noticed this kind of delay on their Q5 or similar Audi, and is it something I should be worried about or just a characteristic of the gearbox? I'm trying to decide whether I should book it in for a check or just stop being paranoid and enjoy the car.

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