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I have a 1995 S6 with about 90K miles. I began having lurching, hesitation and inconsistent idle problems about two months ago. First my dealer diagnosed it as a bad ignition sensor. I changed it (I had changed the other one 1 or 2 years ago)and about 25% of the problem went away.

They then said it was the spark plug wires and I was crossfiring, Those were replaced and now the problem is about 30% solved. I still have uneven idling and hesitation - bucking, particularly at low rpm's.
I chipped the car (stage 2)about three years ago - no problems with it.

I'm thinking an injector or fuel pump? but wouldn't the dealer pick those up on the computer?
Any ideas as to what it might be?

Had a similar sounding problem intermittently over the last couple of weeks. Took it to The Auto Pool and they reckon that these engines suffer from loose spark plugs and this could be causing the idle problem. Also check for puffs of white smoke from the back of the spark plug cover when revving. I was told this was 'blow back' from around the loose plugs. Anyway i hope you sort it.