I'm going to try and reproduce the problem tomorrow. If I can reproduce it then I'm going to take it in to the dealer. I might try and log with VCDS as well.
It's almost as if the transmission doesn't disengage until the rpms get too low for the ECM to allow the engine to run. There was a problem early on with these cars with manual transmissions where the cars would stall when you pulled out if you let the rpms drop too low. It's almost as if it's doing the same thing but it reverse, letting them drop too low while coming to a stop, but only on a moderately warm/cold engine/transmission.
Each time this has happened the car had only been driven about 1-2 miles, was not fully warmed up, and didn't see speed over about 40mph beforehand. DSG fluid would have still been fairly cool. The car had the DSG serviced at around 55k, since I couldn't confirm that it was done at 40k by the previous owner. Since I have a decent list of conditions I'm going to try and force it, so we'll see what happens. One thing is for sure, I can't just let it slide when I regularly drive my 2 year old around in this car, and have a newborn due any day...