2001 audi a6 quatro v6, FAS 5 speed auto transmission with 134,000 miles. Not sure where to start, input would be appreciated. The PRND indicator on the dash is highlighted and dose not indicate the gear its in. When the engine is running, it will go forward in drive when tached up to 2000RPM. It will not go into reverse, cannot even be pushed backwards unless the engine is turned off. I checked the codes and got P0730 incorrect gear ratio. there is a slight rattling sound from the back of the engine, front of the transmission area. Thank you.

 

Sounds like the transmission has gone out.... Possibly the pump.. Not good..