Just had same issue on 93 S100 Audi took it to the dealer and found out it was the Brake switch. It tells the computer that you are Braking and computer sends a message to the transmission telling it you are braking and not to shift Go figure.. cost me $325 to diagnose and fix problem..
Yep, make sure before taking it anywhere to disconnect the battery on these for like 15 minutes, then retry. That was all mine (95 A6) needed and the car shifted perfectly then.
Another thing I found out is that the tranny fluid in these use that expensive mineral stuff you're only suppose to get at Audi.
My Audi Mechanic told me the trick he's done. Use Full Synthetic Mobile 1.
Filled it with Full Synthetic Mobile 1, 30k ago, car/tranny has run perfectly.
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Dude i have that exact same make and model, but mine won't shift out of 3rd gear. Did you ever find out what the problem was?
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