2003 AUDI A4 User Comment / Complaint

My vehicle is an audi a4 3.0. i originally purchased in 6/2003. on multiple occasions, when i have put the car in reverse the car begins to buck/shake violently for several seconds until i press on the brake put the car back into park. i have taken it to the audi dealership to address this problem on several occasions while it was under warranty and they were unable to diagnose the problem. most recently, at the beginning of this year. however, last week as i was returning home, smoke began to come out of the engine. i brought it to audi service and i was told today that my transmission was leaking and was dripping onto my catalytic converter which was the cause for the smoke. however, i am now no longer covered by my warranty. it seems like the cvt transmission on this car is prone for failure after 50,000. they want to take out my transmission and either replace/repair it (if possible). i contacted audi customer care and they contacted audi service. they are currently in discussion with regards to the coverage for the repairs. they should have found the problem a while ago when i brought it in several times before.