Yup, i would say it's stuck in 4th with the rpms being that high at 58. What happens when you drive in tip mode? Are you able to take it into 5th? If so, put it into 5th and the slap it over into auto and see what happens.

Not sure what could be causing it not to go into 5th

 

Tip doesnt work either. Even if I shift it to 4, 3 and 2.

 

Hmm - it may be your range switch. If your trips are short and at modest speeds, i don't see why you can't drive it like that until you can either vag it, or get it to the dealer for a closer look.