2000 A6 4.2 Audi limp mode

Question

After doing what was previously prescribed i still have the same condition but i think im getting closer....if the car wheels r off the ground (all of them) and i put it in drive the wheels will turn and after applying some gas lightly the trans shifts gears and speed shows on the dash board and all is well....no limp mode and no codes either(currently using a borrowed Solus by snap on)...once the car is on the ground then limp mode comes on along with the "Jolt" and the car moves into limp mode gear ....if i put it in reverse all is well... I noticed after R if i put it in D the car engages into first and goes foward normally and then slowly feels like the tranny is slipping ....this while applying little gas...when it slips i try reverse again which instantly engages (normally) and then once again i put it in drive and engagement is also instant followed by slippage after....i also found that after Reverse on drive if i apply gas harder the car instantly reacts and then loses pressure followed by limp mode...after numerous times im thinking im loosing pressure internally from either the valve body or an actuator is bleeding....am i far off from reality or do u think im in the right path....I asked previously a question regarding the code P0730 P17114 but upon inspection and testing the harness and sensor i found no defect and when the car if off the ground thats not an issue...also i tested the brake switch which i found it to be fine...fluid and filter have been changed and no issue in the oil pan aside from the magnets having very little black contamination(no metal)and the odor was very close to the new oil ....
Once again thank you in advance....

Answer 1

On A 2001 A4 I got the same But on Reverse Only It Drives on drive,Also Triptrononic is off