no
The 2002 Audi S4 has a 6-speed manual.
The 2002 Audi TT has a 5-speed manual.
The 2002 Audi A4 has a 5-speed manual.
The 2002 Audi S6 has a 5-speed shiftable automatic.
The 2002 Audi A8 has a 5-speed shiftable automatic.
The 2002 Audi S8 has a 5-speed shiftable automatic.
The 2002 Audi A6 has a continuously variable-speed automatic.
In a word, yes. You will eventually have a huge headache with a CVT transmission, and this goes for newer audi models too.
The 2002 Audi A8 has a V8 engine.
The 2002 Audi S4 has 30 valves.
The 2002 Audi S6 has 40 valves.
The 2002 Audi A8 has 40 valves.