Does it then operate normally with no clunks? No indication of it being in limp mode? (Such as "PRDNS" illuminated which can sometimes be triggered by selceting reverse for some reason). I would suggest you scan it with VCDS to check if there are any indications there pointing towards a F125 switch problem. My F125 problems started off with a similar issue i.e. incorrect gear selection when pulling away.
Also, take it out for a long, sprightly drive - these cars need to be used!
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2002 D2 S8 – Ming Blue, Valcona leather, Vavona wood insert, solar sunroof (to be fitted), Heated rear seats, extended leather pack, 18” Avus, ski hatch, Bose, auto dim rear view mirror, rear blind.
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