Well I have an '02 A6 with a CVT transmission. It will engage in reverse like normal, but drive is another thing. As it warms up, it gets worse. It will engage when cold, but as it is driven, and I stop in local traffic, it doesn't want to engage. I have to take my foot off the brake and hope it will, or try to rev the RPM's to help it. But then it kicks into gear-not good. Sometimes it doesn't engage for 30 seconds or more. Frustrating to say the least! Has anyone dealt with this issue? Please help. I have drained the fluid, and refilled, but didn't help. That is all I have done. Fluid was full when I did it, no leaks. Thanks.