Transmission shifts good in reverse and drive it shudders at 35 to 40 MPH?

This an happens when the transmission fluid is worn out and needs to be changed along with the filter, here is a guide to help with the instruction for your car in the images below.

https://www.2carpros.com/articles/how-to-check-and-add-transmission-fluid

Fluid Types


Lubricant .................... ESSO LT 71141 (color. clear-yellow) Or equivalent

Note Lifetime filling.

Capacities


Capacities, Planetary gearbox

Automatic Transmission 01V

Initial Fill .................... 9.0L (9.5 Qt)

Fluid Change .................... Approx. 2.6L (2.75 Qt)

Caution

Additives cannot be added to the ATF.

Capacities, Final drive

Initial Fill .................... 0.75L (0.80 Qt)

Fluid Change .................... filled for life. No Change


Check out the images (below). Please upload pictures or videos in your response of any problems so we can see what to help you with.

Thanks I've ordered the filter and gasket kit for the Audi hopefully it will fix the problem. Will definitely let you guys know. Thanks again for the info.

No problem, it should make a difference.