touch109

i have an 02 ss with A4. when im going out 55-60 mph on the regular gear and i try to punch it like to pass a car and the other lane and car seems to lock up and stay in gear only when i let go of the gas in shifts into place.... i even noticed that when im at a light the car shakes a bit when my foot is on the brake... does anyone know what might cause these things .. i've taken it to the dealer i have the ext warranty left and they havent found anything. have 48k