Could be the clutch pedal switch packed up, mine has and it sounds like the engine revs 'hang a little' when I change gear.
Apparently the clutch pedal switch is supposed to cut the fueling/revs during gear changes as well as work with Cruise when fitted.
Here's a quote from Audiworld forum:
per the Bentley manual, the function of the Clutch Pedal Position switch (aka Clutch Vacuum Vent Valve Switch):
This signal is used to avoid RPM over-oscillation and load change impacts when changing gears and is also used for the cruise control system.