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Does the transmission fluid really need changing at 40k km or is that overkill?

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I just picked up a certified pre-owned A5 from the dealership and it's got about 38,000 kilometers on the clock, which I thought was pretty low mileage for the age of the car. I was going through the service records and I noticed that the previous owner had the transmission fluid changed at 35,000 kilometers, which surprised me because I always thought these services were recommended much later, like around 60,000 or even 80,000 kilometers. I mentioned it to a friend who knows a bit about cars and he said it was probably just the dealer trying to make extra money off the previous owner, because the fluid should easily last longer than that in normal driving conditions. But then I started thinking about it and I wondered if maybe the previous owner did a lot of heavy towing or city driving which could have justified an earlier change, or if maybe there was some other reason like a known issue with that particular model year. I've been doing some research to understand what the actual recommended intervals are and whether the 40k mark is genuinely necessary or just a conservative guideline. I came across a detailed article about Advanced Audi Transmission Fluid Change intervals that explained the official recommendations vary depending on the transmission type and driving conditions, with the S tronic generally needing more frequent changes than the tiptronic. Now I'm wondering if I should follow the same schedule and get mine changed at 40k as well, or if I can safely wait longer since the car had it done relatively recently. I don't want to waste money on unnecessary maintenance, but I also don't want to risk damaging the gearbox by leaving the fluid too long if it genuinely needs doing. The car is still under warranty so I'm leaning towards following whatever the official schedule says just to keep everything covered, but I'd love to hear what other owners are doing with their A5s and whether anyone has had issues from stretching the intervals. Cheers for any input.

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