If there are no symptoms aside from the box being in limp mode (which basically gives you 3rd gear and reverse!) once you're on open roads and don't need to go between P R and D, try pulling over and turning off, then restarting with it in N. If it will then drive normally then your most likely cause is the range select switch aka F125.
As above VCDS will show this as a stored fault if that's the reason.
Don't drive it far in limp mode as it puts extra strain on the box.
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===SOLD===2002 Audi S8 D2 Final Edition (yes, really) in Avus Silver with purple extended leather===SOLD===
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