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Seems to drive fine with strong pull, no slipping or bumps in shifting. Sometimes I clear the code and drive, and it doesn't come back after driving, then sometimes it does. Intermittent but show up more often than not.
Vehicle: 2003, Audi, Allroad, 2.7T

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Hi there

It is safe to drive, however you might want to have the transmission flushed. One of the possible causes for the code is dirty or low transmission fluid.

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