thumping and grinding noise

the other day on my 2017 dsg i shifted from 1st to 2nd at about 4000 RPMs and there was a thumping noise. Thought it was a pothole at first but then to happened again later the same day. I also hear a grinding noise occasionally when slowing down to 1st gear and/or speeding up from first gear. It hasn't happened again and its been about a week. Should i take a trip to the dealer anyway?

Need a dogbone mount. Do a search as their are a few options. Not sure on grinding noise?