I wouldn't say that's normal - our 2011 doesn't do that. The box is very reluctant to change down to 1st gear when coasting to a halt unless you're literally doing 1mph or less, so you can get some jerkiness when you set off if it's still in 2nd and you ask it for some power. They're best driven a bit like a manual, so when you lift off the brake to set off, give the clutch time to engage and take up drive before you give it throttle if you want a smoother take off.
Did it have the required oil and filter change on the box at about 38k?
ETA - d'oh! Just realised this post is 9 months old......
2011 S5 Sportback in Phantom Black with black leather, 9x20 7 spokes, tech pack high, phone prep high, adaptive xenon plus, intelligent key, memory seats pack, sunroof, B&O, Audi Drive Select & quattro Sports Diff, cruise, DAB, parking system plus, storage pack, through load
===SOLD=== 2002 S8 4.2 Final Edition in Avus Silver with mauve (purple!) leather, 8.5x20 9 spokes, bi-xenons, 10 way electric Recaros, added RNS-E, hybrid TV and bluetooth goodness - and a Milltek ===SOLD===