Bumpy A4 3.0 V6

Hi all,
My name is Ben and I'm new to this forum. I've been driving a 2002 A4 3.0 V6multitronic for 4 years. It started jerking at revs below 1800 2 years ago and the dealer diagnosed a faulty gearbox but said it cannot be repaired. I then decided to live with fault but of late it is getting worse. Now it wont move at all when I engage drive(D) until I step on the accelerator and sometimes the gear symbols on the screen flash continuously.
Can this problem be fixed without having to replace the gearbox at an exorbitant cost?
Thanks
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