Was going to post this in the Stop/Start thread however it's probably more relevant here.
I've noticed this exact same thing with the 6sp DSG in my GTI. If you have a small about of brake applied while stopped it seems like the clutches are still engaged and the engine sounds like its 'laboring'. However if you press the brake pedal firmly (with the Stop/Start turned off) you can here and distinct change in the engine RPM and sound (more of a free-rev sound). Also after doing this and releasing the brake pedal to take off, you can hear/feel a slight rise in engine RPM before the clutch engages, and sometimes if parked on a hill, a slight roll-back.
I've proven this many times when leaving my house. As I drive out of my garage onto my steep uphill driveway I always stop and wait for the garage door to close. While waiting if I press firmly on the pedal, the car rolls back a bit and the revs rise (like driving a manual) when I take off. If I only use a small amount of pedal pressure, the car just take off like you've been riding the clutch the whole time.
I'd be interested to hear the thoughts from a knowledgeable VW mechanic on what effect this has on the clutches.
Regarding the clutch 'shudder', like mentioned previously I have felt a slight shudder/jerk when slowing down to a stop. It occurs at the low end of 2nd gear, just before it changes back to 1st and its a distinct forward 'jerking' motion. This is my first ever car with a DSG box so I just though it was how it's meant to be, and I've adjusted my driving to suit it.
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