A6 Quattro 4.2L Transmission Issue

Hey everyone I'm new to the Audi scene I just purchased a 2000 Audi A6 Quattro with the 4.2L V8 Drove awesome when I first got it now the transmission when I go to take off only sometimes acts like it goes into neutral then bangs into gear I think in the 2 or 3 gear range out on the road it drives like a dream and when it goes back into gear grabs just fine. I do have the abs module off right now getting rebuilt could that have anything to do with it? Also maybe the valve body on the tranny I have read a little on that could that be the problem? I have changed fluid and filter didn't seem to help.

Please any help would be awesome!

Thanks in Advance