Audi 2002 a4 v6 2.4l when the car first starts the RPMs surge up and down unsteadily this stops if you give a few revs on the accelerator pedal. When driving around 50kph the rpms surge slightly it feels like a gentle tug. On several occasions it's lost power and the gear selector lights have flashed but placing it in Park and restarting the engine has always worked these problems may be unrelated.

SOURCE: 2002 audi a4 quattro maintain acceleration problems

Likely a faulty diverter valve. If you have some decent mileage on the car the DV may be failing. It's a flimsy design with a plastic internal diaphragm. They're not terribly expensive (you can buy them at www.ecstuning.com or www.purems.com).

That being said, I'd still look around the turbo and intake systems for a loose, cracked, or disconnected vacuum hose - a vacuum leak should trip a check light but it may not always do so. Look for that, and if nothing is apparent, then I'd look at changing the DV.

SOURCE: No power, won't rev above 3500rpms

Transmission fluid level should not have anything to do with engine rpm's. it sounds more like a sensor, maybe a map, tps or even possibly a egr malfunction

SOURCE: Lack of power

Start with IAC motor, TPS sensor, possible clogged catalytic converter.

SOURCE: 2004 jeep grand cherokee idling problem. Revs motor 200 to 500 rpms higher while driving.

I had the exact same problem on my 04 GC. I put some Techron Concentrate Plus Fuel System Cleaner in from Wal-Mart and it seemed to fix the problems right away. Let me know.

SOURCE: 2002 Audi A4 3.0 Stalling and bogging down majorly.

Ignition coils has to be the answer. if it was the fuel pump your car wouldnt start. So i would say contact audi. they should have sent you a letter in the mail. We have the same car and i got a letter from them. ignition coils are the recall for the 02 a4.