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Solenoids can be a problem or the module. However the first thing I'd look at is when was the gearbox oil last changed? Degrading/old oil can affect the gearbox to change gears effectively.

Hello Ray, I’m not sure whether these light issues are covered by the 3 year warranty, but (pessimistically?) it wouldn’t surprise me that they declare they are not. To me, the most urgent action needed at this point is to e-mail the Service Manager at your servicing dealer, and record the faults. I would also copy in Audi Customer Services. Such notification should counter any claim that it will be out of warranty by the time that they can book it in for inspection. Perhaps you could let us know how you get on. Kind regards, Gareth.

here is a quote from audi for my audi a4 avant 2.0tdi 2011