Only when I'm on the highway really pushing down on the gas does this problem occure. Ill be in tip tronic and all of a sudden it's in PRND234 and highlighted in red and won't let me shift the car only stays in automatic mode but like a safe mode of sorts. Does anyone know this issue ?? Thanks

 

try pulling codes with a vagcom, look for a torque converter code, maybe there is an issue with lock up.

or just do what everyone else does drive your audi like your walking on egg shells and by a chevy to beat on.