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Q:

automatic transmission with no reverse fine forward gears on 2001 Audi A8 Quattro

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
slips all the time it is put in reverse
(1) Answer
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Reverse clutch drum lip seal has most likely failed. This is very common on this transmission, complete unit needs to be rebuilt, since reverse drum is the last part to be removed.
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