i have a 09 A4 2.0T Quattro Tiptronic, my problem is that if i drive the car in the D position(gear) from a stop position, shifts to D2 but it suddenly shifts to D3 at very low speeds, when i'm still not even at 1800 rpms. If i get to a stop light i can see that the car takes a lot of time to make the decision to downshift to D2 or D1. And on Stop and Go traffic is a mess because it usually stays in D3 even though i'm stopped, and when i try to go again the car doesn't accelerate correctly do to the fact that is in D3 and after about 15 seconds of slowly building speed it pops and error in the DIS "Gearbox malfunction - limited driving available".
If i Stop and turn the car off and start it back the DIS error goes away, and does the same thing all over.
If i drive the car in Manual i don't have that problem.

I checked with VCDS

Address 02: Auto Trans Labels: None
Control Module Part Number: 8K0 927 158 C HW: 0B6
Component and/or Version: 0B6 20TFSIUSA H04 0051
Software Coding: 001002
Work Shop Code: WSC 00000 000 00000
ASAM Dataset: EV_TCMAL651 A01004 (AU48)
VCID: 3663E02589A0D4DCB3094A
2 Faults Found:

2577 - Shift Monitoring
P0782 00 [101] -- 2-3 Shift
Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 1
Mileage: 151450 km
Date: 2015.05.24
Time: 15:05:39

2841 - ROD - Unknown Error Code
- 00 [096]
Intermittent - Not Confirmed - Tested Since Memory Clear

Any ideas?