Automatic Transmission Gear Indicator problems of the 2002 Audi A4

My 2002 Audi A4 has a defect with the transmission control module. This defect results in the loss of my ability to put the gear in reverse (automatic cvt transmission). This has happened to me several times within the past month ( which is when this problem started). I was faced with a horrifying experience where I needed to reverse in order to avoid a bus from hitting my car while it was turning onto the road I was stopped at. The reverse did not work, and it acted as if it were in neutral. I quickly shifted to neutral and back to reverse and luckily (that time) it worked. I noticed that when my car doesn't reverse the prnd flashes on the gauge cluster. I have researched this problem and noticed that thousands of people are having the same problem with their Audi A4's. It's only a matter of time before I get into an accident because of this faulty error that Audi has not recalled. My mechanic confirmed my suspicions of the transmission control module failing and said it will get worse over time. I called my local Audi dealer and they said they are aware of this problem but have yet to do anything about it.