The ZF specialists have the proper kit to flush the box with hot oil and filter it along the way. Any bits in the very fine filter can help diagnose the problem. But we've heard so many tales of woe when a non-specialist changes the gearbox oil and filter, that I'm not surprised.
I'd get it to a ZF specialist ASAP and ask for a diagnosis and, if appropriate, a proper oil and filter change. It costs a little over £100 or so and I get mine done every 20K miles or there abouts, to try and postpone (or even avoid) the death of the gearbox.
But if the car's a good 'un, I think it's worth a recon gearbox
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2002 Final Edition S8. Ebony black with Silver Grey leather and myrtle wood trim. Current mods: solar sun roof, 20mm rear spacers, 15 mm on front, red brembo callipers, 6k headlights, rear view camera, engine remap, alloy dash dial rings, alloy navi rings, tt/phaeton pedal upgrade, (and custom matching foot rest) dension ipod interface & parrot hands free kit (both fully hidden), av input, tv in motion switched thro' PF switch in blanking plug right of steering column, Audi 'quattro' sill covers, repositioned centre console switches, radio clock, .
Planned mods: auto-dimming rear view mirror, dash cam (as steamship's), fit the ski hatch, refit philips drl's (or maybe not - nope, definitely not - horrible botch!).
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