A/T range switch open
 

Good day fellow auto enthusiasts, I'm trying to narrow down whats going on with my A6, after going through the forums for the past 5 hours I'm still scratching my head. This morning I go out and start my baby, everything sounds great, Idle electronics, all normal. As I try to put it in reverse I notice I cannot disengage from park, I look at my cluster to see a MIL light and the EPC light have came on. So I borrow a friends code reader, and come up with two codes, one saying IDLE AIR CONTROL SYSTEM HIGHER THAN EXPECTED, not really too concerned there, but the second was an A/T Range Switch Open code. Anyone know why this could be causing my transmission to be locked up? or any way to address it?

Any help is much appreciated.