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Problem with Audi AllRoad Multitronic gearbox

I have a problem with my Audi A6 Allroad 2.5TDi. When I start the engine and try and go into gear all of the gear indicators on the dash light up, and the drive will not engage.

The solution is to switch the engine off and start the process again. The problem will go away after one or two attempts. My local garage appear puzzled. I wonder whether any one has come across this problem or can offer some advice.

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VAG fits an interlock between the brake pedal switch and the transmission and imposes the ridiculous restriction that you cannot move from N to D without pressing the brake pedal. This goes wrong.
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