One problem related to transmission gear indicator has been reported for the 2010 Audi S4. The most recently reported issues are listed below.
The whole car jerked when going to 2nd gear and then thetpms, no reverse, and gear malfunction lights comes on. 2nd, 4th, 6th, and reverse gear are gone. Restarting the car cleared the warning and drove fine for 10 miles before it happens again. Try restarting again to clear the warning but light will come back on when going to 2nd or reverse.