Transmission Not Go Into Gear problems of the 2006 Volkswagen Touareg

The contact owns a 2006 Volkswagen Touareg. The contact attempted to start the vehicle and the engine warning light illuminated on the instrument panel. He turned off the vehicle, restarted it, and drove for approximately 4-5 miles when the light illuminated again. While driving 50 mph, the vehicle made a loud sound, jerked forward, and came to a complete stop. He was able to pull off the road, and after six attempts, was able to restart the vehicle. He drove 15 mph on the shoulder until he reached the exit. He called the dealer and the manufacturer and they both stated that his vehicle was no longer under warranty. He was advised to call roadside assistance. Roadside assistance informed him that because the vehicle had an electronic shifter, they could not assist. The vehicle has not been repaired. The engine runs, but does not shift into gear. The current and failure mileages were 65,500.