Clutch Pedal/linkage Problems of Audi S4

Audi 7sp dl501 's-tronic' transmission for: 2010-2015 Audi S4 and s5, 2013-2015 Audi rs5, s6 and s7. Vehicles experience mechatronic unit failure and clutch faults. Resulting sudden shaking and violent �juddering,� hesitation from the car when pressing the gas pedal, a �surge� forward that feels like the car has been rear-ended, and hard downshifting or clunking when slowing down or driving at slow speeds. Also clunking and trouble shifting gears, difficulty engaging into drive or reverse. Vehicle showing "gearbox malfunction, you can continue driving" "gearbox malfunction, do not continue driving" vehicle going into "limp mode" in any driving situation. Clutches not engaging properly, slipping between gears. Issues can occur while trying to accelerate, merging into traffic, driving up a hill, shifting gears at a low speed. My experience: while switching vehicles in driveway, vehicle when into reverse and I backed up, then stopped, put transmission into drive and after a jolt forward, vehicle felt like it stalled, however engine was still running, but no forward gear, (epc light illuminated) vehicle then rolled backwards into parked vehicle, but could have been catastrophic had it jumped back into drive as 3rd car, father, and garage were in front path. 2nd time: vehicle could not reverse,(epc light illuminated) ran into parking curb while expecting to go backwards. 3rd time: after finally getting out of the parking spot (restarting car for the 4th time and epc lights) put into drive, vehicle surged forward, then transmission disengaged,(epc light illuminated) leaving me and vehicle vulnerable for rear collision,with leg out of the door I was able to push and coast my vehicle out of the way, just to miss being rear ended, as car would not engage in drive after 3 attempts of cycling ignition.

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