Have a 2013 s5 also, 36k miles (bought it CPO at 21k miles) and my car is in the shop for the same thing...was driving on the highway and then the yellow gearbox malfunction came on but it was driving normally, then as i was getting off the highway a few miles later, the transmission jerked and the message came up in yellow again, so i "crawled" to a parkinglot and then it turned to the red gearbox malfunction message.. ended up getting it towed to the dealership... same thing "selector lever sensor" and thats part of the mechatronic unit which is within the transmission, so the tranny had to be removed and dis-assembled for the mechatronic unit to be repaired... these "mechatronic unit failures" are way more common in the s4s especially the 2010-2011, and less frequently 2012+ but there are a couple threads in the s4 section, just search "mechatronic" in the s4 forum..thats a noted weakness in the dsg
You definitely should not pay anything else out of pocket, Whatever the verdict, the dealership or AOA will have to foot the bill moving forward, this may require some "fighting" on your part, but definitely do not let them force to pay anything else as that is a defective part of the dsg that audi doesn't want to admit fault on
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