I had similar behaviour from my cold box and had brake switch errors - also it sometimes seemed to be in the wrong gear when exiting a roundabout.
Changed the switch - £10 part - and 20 mins (by the brake pedal) and all seems ok now.
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2003 D3 A8 4.2 Atlas Grey -
Factory: Adaptive lights with coming home function, 19" wheels, Solar Sunroof, Bose, Nav, TV, Paddle shift sports wheel, sports suspension, sports seats, rear seats with electric lumbar adjustment, heated seats and climate all round, ski hatch, int light pack, auto dip/fold mirrors, voice command, cordless phone, wooden gear knob, towbar, power boot lid
After: LPG, AMI with HDD
Pending: DVB-T Tuner & fixing niggles
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