Sounds like the shift cable is out of adjustment. I have to admit that I am not totally familiar with the TDI set-up but the automatic transmission cable moves a linkage on top of the transmission. If the linkage bushings are worn, the cable may not be able to "push" the linkage to park. If the car shifts fine and does not slip in any gears, the transmission is not bad.
Also
i suggest you to refer these gear shift issues, which are mostly noticed. These
are direct links with appropriate solutions to
the specific problems of gear ****.
GEAR SHIFT ISSUES
http://howtobyme.blogspot.com/2011/11/chrysler-pt-cruiser-only-goes-in-first.html
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Car is stuck in park and the shift will not move?
http://howtobyme.blogspot.com/2011/08/car-is-stuck-in-park-and-shift-will-not.html
http://howtobyme.blogspot.com/2011/11/car-will-not-come-out-of-park.html
http://howtobyme.blogspot.com/2011/11/automatic-transmission-will-not-go-into.html
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http://schematicsdiagram.blogspot.com/2011/12/car-wont-downshift-sometimes.html
http://schematicsdiagram.blogspot.com/2011/12/buick-park-avenuetransmission-will.html
http://schematicsdiagram.blogspot.com/2011/12/car-transmission-will-no-go-into-park.html
http://schematicsdiagram.blogspot.com/2011/12/shift-indicator-directly-goes-to-2nd.html
http://schematicsdiagram.blogspot.com/2012/01/third-gear-missing-and-engine-losing.html
http://technoanswers.blogspot.com/2012/01/chevrolet-silverado-has-whining-sound.html
http://technoanswers.blogspot.com/2012/01/hard-to-shift-gears-on-manual.html
http://technoanswers.blogspot.com/2012/01/car-hard-shift-at-slow-speeds.html
http://technoanswers.blogspot.com/2012/01/automatic-transmission-shift-lever-hard.html
http://schematicsdiagram.blogspot.in/2012/02/2000-nissan-maxima-shifts-hard.html
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http://schematicsdiagram.blogspot.in/2012/03/vehicle-noticed-sluggish-delayed-shifts.html
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http://schematicsdiagram.blogspot.in/2012/06/2007-hyundai-santa-fe-will-not-shift.html
These details will help.
Thanks.
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