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Is it not shifting into third gear (meaning you're at redline and the car won't shift), or is there not enough power to get the car going fast enough to warrant going into third gear? Have you checked to see if the car is in limp mode?
It is imperative you use the correct fluid in your Audi tiptronic transmission. Look in your owners manual for the correct fluid. If you do not have an owners manual call your local Audi dealer or better yet drive to one and purchase Audi Pentosin A/T fluid from the dealer. Do not use Dexron III as it is not designed for the Triptonic transmission. A transmission is very expensive to replace so do not take any chances and just buy your fluid from your Audi dealer even though you may pay a little more. That way you are 100% sure you are using the correct fluid.
At the bottom of the automatic gearbox (tiptronic) you will find 2 threaded plugs on below surface. First (in front of the car) is for emptying, and second is for filling up. Tightening torque is 24 Nm.
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Have you had the vehicle put on a diagnostic machine, does the car feel slugish, any lack of power, we have seen a lot of these vehicles with air mass sensor faults. When they fail they do not show a code but with the right scanner they can be seen not working. This affects the gearchange because the ecu does not have the correct data to shift. Of course it could also be the transmission is in need of overhaul. but i would take it to a good diagnostic garage first. It is not uncommon for the air mass sensor to fail after it has been disturbed or knocked in the workshop. we have never found out why.
I have been having similar problems. The clutch is slipping as thats how you get the variable gears when in full auto, but this is where the problem comes from, some garages (auto gearbox specialists) are now able to fix it. Do not go to Audi as all they do is replace the gearbox (very expensive). There is no quick fix though! Sorry for the bad news!!