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2011 Audi A4 Quattro Questions

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The oil was changed and reset by a shop at almost 67k
Back up. And now if my heat is on and I get hot so I'll turn it off and if turn on again won't come back in right away
When I start my car (doesn't happen all the time) my check engine light and epc light pop on with car struggling to idle. If I hit the gas slightly they go off and everything is fine. I have taken it to dealership, my husband has hooked it up to code reader and it throws no codes! Not sure what it is or how to fix it, obviously it's not right. Any advise?
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