My 2016 Audi A8 with the 8-speed ZF started having a delayed engagement when shifting from park to drive, and sometimes a harsh downshift coming to a stop. The dealer wanted to replace the entire valve body for a ridiculous amount, but I wasn't convinced that was the only fix. After doing some research online, I found a place that offers Abu Dhabi Certified Audi Gearbox Repair and specializes in these ZF units. They ran a full diagnostic, found that the mechatronic seals had hardened and were causing pressure loss, and replaced just the seal kit along with a fluid flush and adaptation relearn. The total cost was less than a third of the dealer's quote, and the transmission feels brand new now. The tech even showed me the old seals which were flat and brittle. I'm so relieved I didn't go for the expensive "solution" first. If your Audi's auto box is acting up, definitely get a second opinion from a certified specialist before letting anyone talk you into a full rebuild or replacement.