What year is your S7? It seems that Audi has lots of complaints in the 2018-2019 model year for the S series that use the ZF. Their A series uses the DSG and doesn't have the problem. In fact, I'm driving an A5 loaner right now as my S5 is in the shop on the 3rd attempt to fix buzzing speakers, and imho the A5 tranny has smoother (but slower) acceleration and better low end throttle response than my S5.
Oh yeah, and the "D" drive mode is a joke. Pedal feels like mush and you wait 2 seconds to get power to the wheels.
Honestly, if I could get my 2014 S4 manual back, I would. Loved that car far more than my new S5.
the original A7 3.0 TDI Quattro was the most disappointing car I ever drove
audi has some amazing vehicles, some of them are just complete shit though, the 2.7tdi with 163bhp another one of those, fortunately they cancelled it pretty fast, no torque, no power, relatively large engine, amazingly bad in its own right