Your automatic gearbox is going in "limp home mode". You need to check first the oil level. Change oil if necessary.
If the problem still occurs you shoud access the Transmission Control Module (TCM) using diagnostic equipment connected to the Data Link Connector (DLC) of the car. Then you will be full informed about the root cause of the problem, and you can replace bad pieces & reset the TCM electronic unit. 
Hi, I have a 6HP19A transmission in my Audi A4 3.2 - tdisline_911.jpgploads/images/tdisline_911.jpg" alt="tdisline_911.jpg" class="h_mi" />
SOURCE: AUDI A4 B7 MAIN STEREO PLUG
You may have the clock and radio power leads reversed. Clock needs to be on a line that is hot with key on or off...radio goes to a lead that is only hot with key on.Same goes for lead for power antenna...don't need power there unless car is on. Don't forget...I'm not there so I can only make an educated guess.
Good Luck
SOURCE: Buick LeSabre 2000 has hesitation uphills
It could be the fuel filter. Check fuel pressure and volume.
SOURCE: 1996 audi a4 transmission hard shifting
Get the transmission scanned at the dealership. If it has incorrect gear ratio code stored, it needs a transmission. Only the torque convertor or valve body can be replaced for any repairs at the dealership, so it needs to be diagnosed correctly. Any authorized ZF transmission repair shop can also repair them, more than the Audi dealerships can, so thats another alternative.
SOURCE: i have a 97 audi a4 1.8t. with trans problem.
check oil level in gearbox, if auto check fault memory, will go into emergency mode and stay in 3rd if there is a fault. gear position display will all light up.
SOURCE: 1996 Audi A4 1.8 auto gets stuck in 3rd gear
Change the transmission fluid ant if that doesn't work then the transmission needs rebuilt or replaced. If you get on craigslist someone might be selling a transmission for cheap or check the salvage yards.
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