I own a 2000 Audi a6 quattro 2.7 bi turbo and I have 112000 miles and the car has had all the work done at their respective time frames but now I have a problem the tcs light is on and also my abs light no codes are popping up but when I start the car there's no lights on but once I put in drive I get both lights and the car feels as though the brakes are engaging. Does this mean my abs switch for the front and rear brakes need replacing or is it the abs module?

 

I don't know about the tcs light, but my ABS light came on at about 150K and it was the ABS module. You can remove it and still drive the car. I sent mine in to have it rebuilt for about eighty bucks and it only took a couple days.

 

Check the abs module and all wire connections. Mine started doing this and that's what the dealership replaced.