2010 Audi A4 brake shudder

I've had my 2010 A5 2.0T for about 4 weeks with 1k miles on it and I have noticed some brake issues since day one. In fact, I took it back to the dealer where I bought it when it had 500 miles and I was told the brake dust was causing the issue and it should be normal. The issue I've experienced is that I always feel slight vibration from the brake pedal when releasing the pedal from a complete stop before I hit the gas pedal. It feels like the car does not want to engage in the gear smoothly and cause slight jerkiness. I don't expect to feel this kind of vibration since the car is brand new. I know some of the owners have reported transmission issues when it comes to a complete stop, but my issue is completely opposite. Is there any Audi technician or mechanic guru on board that can help address my concerns?