QUOTE
get a COMPLETE transmission fluid flush if thats the case.
2nd this advise. Fluid flush and replace is critical with the triptronic tranny What sort of miles do you have on it? Make sure you the correct fluid because if you don't you will be replacing tranny in a short space of time.
Another common problem is intermittant electricl connections in the engine bay. Try removing each and cleaning with some emery cloth and spray clean with electrical contact cleaner. This helped mine shift at the correct points which stopped the shudder with loading the torque converter. Seems some of the sensors get mixed up and report false info to the ECU causing it to shift prematurely.
Jim