I would go with ZF on this one, Audi don't make the Autoboxes.
I had a D3 from 60K miles to 240K miles over 5 years and had the ATF & Filter changed 3 times during my ownership. Thd Gearbox was perfectly smooth and felt like new when I sold the car.
My thoughts on the Audi service schedule is they include the bare minimum.
This makes running costs look attractive to leasing companies / company bought cars.
It could also explain why oil service intervals are now 2-3 times longer than they used to be. A leasing company won't care about long term issues like gearboxes and engines on fleet cars, they will be within warranty if anything goes wrong in the early years.
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