Transmission problem
2001 Audi A6 V8 All Wheel Drive Automatic 119000 miles
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My A6 doesn't seem to have reverse until it gets warmed up. After that no issues. It also cuts out when you push the accelerater past the "kick plate". After that the ESP and ABS warning lights come on. Any thoughts?

Have the PCM scanned for codes. With both of those problems there should be something stored in the comp's memory. Could be a trans position sensor issue, throttle body (Throttle position sensor) many things