99 audi A6 wont shift above 1st gear
 

today when I was driving home on the highway i heard 3-4 beeps coming our of my dash but did not get a check engine light nor did anything come up on the screen so i kept on going my way. after abour an hour of driving I come home and step inside for 30 mins then step in to my car to go pick a friend up and i noticed that I wasn't shifting through my gears in the neighborhood. Park my car again to see if there is anything leaking but thankfully found nothing. so i start going through my gears manually and what do you know, its all shifting without any problems after this test. but what im just concerned whether this is a warning sign or just a random thing... is there anything i can do to?

thanks for looking

Have you ever changed your fluid? Maybe a piece of gunk got temp stuck in your valve body and blocked shifting. When you placed the shifter into tip mode, which raises the line pressure in the transmission, it pushed through the piece of gunk.

Just a though.