Transmission is stuck in limp mode what to do to fix it!!!!

Yes, that is the whole idea of Limp Mode. It limits you to first and second gear so you can limp slowly to the nearest garage without causing catastrophic damage to the engine. What you need to do is connect a good quality DTC code reader scan tool and see the real reason that Limp Mode has been engaged.

https://www.google.com/search?q=1999+jeep+cherokee+limp+mode+causes

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Get the trouble codes read to see what's causing it to be in limp mode. Then fix the problem

try using a scan tool to reset the computer

Have the codes read. But I am pretty sure 1990 Audi's didn't have a limp mode in the ECM. You have transmission problems. Time for a rebuild.

What is "safe mode"? Do you mean transmission is in fail safe mode (Limp home mode or stuck in high gear)?
Probably missing 12v down to the transmission. At the transmission connector with ignition in on position look for pin E it should have 12v. If it's missing you have a bad fuse or bad ignition switch.

Limp Mode is usually a transmission failure
that will have to be diagnosed-check for codes
& google what they are

There are overheating & possibly other limp
modes on some vehicles

Can't use it at all like that & not cause a problem

Need a repair shop or dealer

Recommend you consult with your local certified transmission mechanic. They will have code readers that can talk to the transmission and not just the general codes.

If possible remove the transmission pan for further diagnosis. Excessive debris or metal particles on the transmission pan is typically an indication of mechanical failure such as clutches, meaning a rebuild.

If it comes to a rebuild, have yours rebuilt versus a swap out. This way you'll know everything bolts up correctly and you have all the brackets, etc.

P 1751 Shift Solenoid" A" performance. The solenoid is part of the transmission valve body and yes if this solenoid fails you will get limp mode.The only solution is a new solenoid may be even the wires to it or even the transmission module

The town and country vans are know for transmission problems and it would not be stuck in 2nd gear if it was in limp mode. Limp mode typically controls the engine. I have seen people do a transmission flush/filter and add lucas to temporary fix the problem. There is also a good chance that the transmission has a solenoid problem preventing it from shifting into any other gears but second. Hope this helps!

Your car is in "limp"mode because the computer doesn't know what speed your doing,So it doesn't shift,
There are three possible reasons for this,
#1= input sensor faulty on transmission,
#2=output sensor faulty on transmission,
#3=speed sensor faulty on transmission,
you need to have the transmission codes read to know which one,Autozone checks codes for free.