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Transmission leaking? on 2002 Audi Allroad Quattro

I smell a burning (acrid) fluid smell for the first 5-10 minutes I drive the car. I check the oil,power steering, coolant and brake fluids and all are ok but I cannot check the Trans fluid as it has no dipstick. I do not see a puddle where I park the car. I just bought the car and it has 108K miles and is in immaculate condition. how can I check to see if it is leaking Trans fluid and if it is what kind of costs for seal replacement am I looking at a non-dealer?

Asked by for the 2002 Audi Allroad Quattro
Really, you need to find the source of the smell first and foremost. It may not have anything to do with the transmission. I have seen the 2.7 turbos leak coolant a lot from hoses on or near the turbos, and that makes a very acidic smell as the coolant burns on the hot exhaust. So keep checking your coolant level. If there was a transmission leak, there would be puddles on the ground of redish/brown fluid. So look for those.
If you have a check engine light on, then by all means, have a shop diagnose and repair the code ( not a parts store, that is not professional inspection ) .

here are some shops:

https://repairpal.com/directory?address=30189&car_brand_names=Audi
Thanks Dan, no I have checked coolant levels a couple times including 10 min ago and its full. Also no service lights. Not being able to check the trans fluid level @$#% me off with not knowing the service history as I know repair/replacement costs on these trans are $4-6K! Also it looks like according to websites the trans fluid for Audi's are clear not red like traditional trans fluids. Good news is that i do not notice any slippage.