I assume you looked on tdiclub.com for this? You are almost certain to find 
this condition and its resolution described there. 

>From what I remember, the fuzzy logic computing on these transmissions can 
>fail and lead to what you're describing. 

> On Jul 25, 2015, Curt Raymond wrote: 
> 
> When its stuck its stuck in all gears. Then it magically gets unstuck until 
> its stuck again...
> 
> Curt
> 

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