Cihan Demirel

Hello. İ have a 2010 A5 2.0T quattro 155.000km .when the car is in "R" position on coldstart, while release the brake, car is starts jerking and stop for 2 or 3 times. The car is shaking like it will engine stop. Then it returns to normal. "D" position normal. There is also knock in the 2-4-6 gear changes. Clutch changed last year. even so A mechanic said this could be a clutch problem. Another mechanic said mechatronic fault. There are no fault codes on mechatronic and tcm. Is this a software problem ? Spare parts price too expensive in Turkey. so i dont want replace any part. Can anyone help with this problem ? İ will attach a video