How many km's are on the car and is the car modified / driven hard at all? It could be a faulty gear selector fork or worn syncros on 3rd gear but could be something else obviously - worn bearings or failing mechatronics etc. If you are lucky you might get improvement by simply carrying out a DSG adaptation which adjusts clutch clamping pressure etc to account for wear as the car gets older.
Id be getting it looked at sooner rather than later though otherwise you may end up ruining the gearbox.
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