Important thing is no need to rush if that is it. And definitely don't panic.
Do you have VCDS? That's fairly important so that you can check for any error codes before doing anything at all.
If the warning display clears when you stop the car and only appears occasionally when doing "brisk" moves of the gear lever, typically reversing as you describe, then you can live with it for ages. I did for well over 3 years before finally getting it done.
I only ever got the infamous 01119 Gear Recognition Signal error, though others have had additional ones. If it's gearbox internals you usually get fairly specific errors about them.
If/when you decide to get it done it helps to have a cooperative/understanding garage and give them all the tips and techniques from Audipages and especially from MikkiJayne who managed to do it so quickly.
I think my garage did it "by the book" and charged me for the standard time even though it can be (and probably was) quicker and easier.
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2003 D2 FL S8. Irish Green Pearl/Beige. Solar sunroof, auto-dim mirrors, electric rear seat functions and extended leather. Ski hatch retrofit. Aftermarket reversing camera. DVB-T and XCarlink now removed as redundant.
2016 Volvo V40 T5 Cross Country (4WD) with ALL the toys including adaptive cruise etc. etc. Osmium Grey with Blonde/Charcoal leather interior. Polestar performance "optimisation".  (Even rarer than a D2 S8!) Oh, and a brand new engine at just under 30,000 miles on the factory one! 
Finally: gone, but not forgotten.....
1998 D2 PF S8. Agate Grey/Platinum. Every option (I think) except electric rear seats, Tiptronic steering wheel, ski hatch, towbar & dimming door mirrors.
e.g. Cruise control, NavPlus/TV, Bose, GSM, Xenons, Solar roof, Parking sensors, Alcantara/leather everywhere of course.  (internal dimming mirror added later)
1998 (very early) Ford Focus 1.8 Zetec; ABS/TCS, Heated screen/mirrors, Aircon. Added Auto-dim mirror, Leather seats, Trip computer, Cruise control, OEM Ford SatNav with CD changer.
And before that a lot of Rover 800s, a few oddities, a lovely Triumph Dolomite 1850HL with Overdrive and way back in my schooldays an Austin Seven aka Mini 850!
Last edited by HPsauce; 19th May 2017 at 07:52 AM.
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