I spoke with a technical guy at ZF today and he confirmed that Audi fluid is indeed ZF fluid. He also said that due to the design, it isn't possible to totally flush a transmission with a machine as there will always be fluid left in the Torque Converter.
He said the way they get as much fluid flushed as possible is by doing a "double flush" which is first carrying out a normal drain and fill with a new filter and associated bits, continue with the engine running for a couple of minutes to circulate the new fluid, then drain and fill again. The temperature should also be continually monitored through the process keeping it at 40.
I'll be servicing mine asap.
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