Axel its called a shallow start. They are more prone to come up in the cold weither. This may speak of why you have just started seeing this. Lots of the points are valid in this post. Temp plays a major… Being a Audi tech like carlos I can tell you this is something that many members can say has happened to them. We would see this more and more in the colder months.
I would say we look at how this continues to play out. When the car starts on blip cycle its called for. When the car starts on shallow cycel its called for as well. Carlos was correct that the range of RPM on start up is called for in the ECU.
At this point if your not getting a code for a VAC leak or fuel pressure two low. I wouldn’t say this is abnormal. Why now are you seeing this more then you might have in the past. I can’t say. I can say that this shallow and blip start is normal to jump between several start up RPM selections.