[Dakes55]

I had exactly the same problem as you, all my symptoms were the same, I would say im 99% sure its your F125 multifunction switch on your gearbox, the brass tracks inside the switch go bad, what I did to confirm that it was the switch was to do a test with VCDS, and this showed that when the gear lever was moved from P to R there was no electrical connection, thus causing the car to bring up all the PRNDS lights on the dash and go into limp mode, I bought a genuine ZF F125 switch for £350, and it cured the problem, the car now drives great, I would say that its a bit of a pain to do the job, if you need further advice on this just PM me and I will give you the procedure for testing, with the values you should be getting