I had my dealer service my '00 SSEi '* intermediate shaft with only 14,000 on the car. I called 6 months later and told them it was happening again and he said I could bring it back, but it would keep occurring as the grease was thinned out. He said it wouldn't cause a long-term problem.
Since they messed up my dash a bit when doing the job, I decided to let it go. The car is now at 75,475 miles and the problem is still the same as it was then...it never got worse or caused any other issues.
Maybe lucky, I don't know.
'09 G8 GXP