1995 A6 Wagon Will Not Go Forward
 

1995 Audi A6 Wagon
Was driving and car started making horrible noises and stopped moving.
It will not go forward in 1st, 2nd or 3rd.
It does go in reverse though.
Tow truck was not able to get the car wheels to move forward, but they would go backwards.

Am I correct in assuming it is the transmission?
If so I have a life time transmission warranty from AAMCO. Just want to make sure they don't come up with some kind of excuse of something else being wrong.