PNRD4321 (I thnk) problem

[awolfinsheepsclothes]

The ATF was pretty dirty really I'd love to change the filter and the oil. But after reading how others have failed after oil changes sometimes think I'd be better say draining 4-5 litres out and refilling a few times, say a week apart so I don't give the box a shock with new oil! And then there is the question of what ATF and do I get it from Audi or ZF.
Your switch was the most expensive one, like I bet mine is (FBG Box)
It's only done it twice when starting in park, so I could just always start in neutral?
Cheers dave