I suppose to think positively could it not be something simple like the selector position needing adjusting? The bit that joins the gear leaver to the box. You’ll have to get under the car to see. It’s hidden behind a heat shield on the NS of the box.
Might not be but I’d be starting there after a scan
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1996 A8 4.2 QS. Bose, Solar roof, um...um... rally sport towbar. Now gone to a new home as the Traders 8.
Bright yellow bus o love.
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