HI,IF YOU TT GOES INTO ALL THE GEARS WITHOUT CATCHING OR HOOKING,THEN I SUSPECT YOU HAVE A PROBLEM INSIDE THE GEARBOX WITH EITHER THE SYNCHRO RING OR HUB OR THE BEARING ON THE SLIDE SHAFT MIGHT BE SEIZED.ALSO CHECK IF THERE IS NO FORIEGN OBJECT STUCK AT YOUR GEAR LINKAGE CABLES ON TOP OF YOUR GEARBOX.ANDY
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Unless you have a very good working knowledge of interference engines and the tools that are required to keep the various pulleys and cam gears from moving during belt installation I would have an expert change it.
Your synchro's are bad, or most likely you lost fifth gear all together, sounds like time for some transmission work. I lost second gear in my 99.5 one time. You can drive it for now, it could have an issue with other gears though.
it is a common problem on the audi auto box's!!!in a nut shell you need a gear box rebuild.NOT CHEEP.my mate has got the same problem on his 2001 audi s6 4.2 v8 and he has been quoted £1350 to fix the problem.