A4 2.0 fsi, has misfire on idle

Car: Audi, A4, 2003, 2.0 fsi - Back to Fix-It - Audi Repair Manuals

Q.2003 audi A4 2.0 fsi, has misfire on idle normally worse when hot, has been to audi for over a month they cannot fix it, replaced all sensors, coil packs, plugs, removed valves and clean, re seated, new valve guides fitted, at audi request, still not fixed, on diagnostic machine timing is very More 2003 audi A4 2.0 fsi, has misfire on idle normally worse when hot, has been to audi for over a month they cannot fix it, replaced all sensors, coil packs, plugs, removed valves and clean, re seated, new valve guides fitted, at audi request, still not fixed, on diagnostic machine timing is very irractic when fault occurs then settles to 12 deg btdc, and runs fine, thinking might be ecu, audi dont know how to fix, help needed.

More Info required which cylinder is it misfiring?
code in ecu?
what is the code?

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A4 2.0 fsi, has misfire on idle