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Hi today i has the same problem again flashing PRNDS but reverse did work, pulled apart my dash very annoying. Few years ago I had this problem and was stuck in a carpark,i got access to the emergency reset and tryed to get in to neutral, and spilt a capacino every where. I had Audi fix my car and they said they replaced the whole automatic gear lever assembly, but today i was wondering why there is old capincino coffee stains everywhere. Who ever fixed my car last time did not replace the whole gearlever. So i disconected part no. 3q0 713 128, and plugged in the original and prnds was flashing but then i pushed in with my finger the silver solenoid bar just once and all the lights went back to normal, i cant explain it but my car is fixed running perfectly no lights flashing now put in d and its all working perfectly. So someone who fixed my car last time ripped me off hard. Pit in sport mode reverse everything is working perfectly.

i learnt a normal scan tool wont find faults , a vcds scanner is for transmissions for Audi/skoda and vw, search around for someone to scan your car with a vcds scanner Audi wanted $250 for a 5 min job and my car for the day.

vcds scanned 2x first time i said clear the codes so they did and i lost the code i needed so got it re vcds scanned got the code P096D/02413 as above.$48 Bought part no 3q0 713 128 US $100 +20 postage bought plastics levers $20 fitted it myself all fixed. searched the internet for 5 days didnt find any advice how to fix, the vcds scanner solved all my head aches

The $24 diagnostic scan was vmcd or something silmilar for audi skoda that can diagnose trasmision problems, found the above code, got the part from ebay us $100

Audi Australia was not very helpful, got annoyed with them. Fixed my car for $200 was pretty easy, my local car mart does diagnostics for $24. P096D/02413 Passive /Occasonal Switch for Selector Lever position P Lock f319, Implausible Signal as well as PRNDS flashing and reverse problem, all fixed without $1200 scanner part no 3q0 713 128, fitted it myself all problems are fixed, fixed for $200 instead of $1100