I got the diagnosis yesterday... The clutches are worn out and they need to be replaced.
I was quoted $2100 for the job, but the dealer has applied for a goodwill repair, will know the outcome in a couple of days.
I hope VWA will be kind enough to approve it since it is a pre-existing fault that should have been covered under warranty...
I asked if they are sure it is not the mechatronics unit misbehaving, I was told the unit is issuing the commands but the clutches are not responding... they also confirmed the results with Germany...