My Audi feels slow to change gears, is this normal?

Need some help from people who know cars better than me. My Audi Q5 has started to feel strange when I drive it in the morning. When I press the pedal, the car waits a little and then moves. It is not every day, but it happens maybe three times a week. Last Friday it also gave a small jerk when I stopped at a signal. I did not hear any noise and no light came on the dash, so I tried to ignore it. But my mind would not let it go, so I read a bit online. I found some Warning signs of a failing Audi gearbox from Audi Transmission Repair, and it said that slow shifting and jerking can be early signs, even if the car still drives okay. That made me worried, because the car has done about ninety five thousand kilometres. I bought it used, so I do not know if the gearbox oil was ever changed. My friend says it is just the cold weather and I should not spend money. My brother says I should check it now before it gets worse. Who is right? Has anyone had the same thing and found out it was small? Also, how much does a simple check cost, and is it better to go to the dealer or a small workshop? I just want an honest answer before I waste money or ignore something big.