Did you drive a Cayenne? The steering feel will be very different from an Audi.

As soon as I got my car, I replaced the steering wheel with the Sport Design wheel because I intended to shift manually. And I did for a few weeks. But then I tried auto and I never really looked back. Nowadays I drive mostly in auto, regular.

I might shift manually on track if I still went to the track but, even on track. PDK learns very quickly the right gear.