Mine has always done this, prior to flaps deletion and decoke, and now afterwards
I reverse up a slight incline off my drive, if I leave it to tickover until the revs drop below 1000, I blip the throttle and move back and it doesn't do it. Drive back immediately with the revs still up (and without touching the throttle) it does do it. For that reason I've always assumed it's due to over fuelling at that point, though I'm just guessing.
The majority of the time (i.e when I have time) I prefer to leave it to warm through a few minutes before making a move. It's good to hear I'm not the only one who experiences it though
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Audi D3 S8 - 2007 - V10. B&O, Phantom Black, black and silver interior, and still completely standard with everything working as it should
Audi TT - 2015 - Ultra