If it was the F125 switch it would show on VCDS - which you say shows no fault codes so it would seem (IMHO) to be more of a gearbox mechanical issue than anything upstream or downstream. I am sure that others with greater insight than mine will be along shortly but I hope that it doesnt turn out to be a terminal gearbox fault tho' 
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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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