I've been having issues with my transmission. Under hard acceleration or

You will need to have a system scan done to determine what codes are being generated to cause the transmission to enter limp home mode. Continuing to drive in limp mode will cause stress on the gear that is engaged , generally 3rd or 4th gear depending on which transmission you have. I had an A6 come in with a similar situation. The trans went into limp when climbing hills and had a code for a camshaft position sensor. The Audi dealership told him that he needed $8000 worth of work to correct the issue. After hours of diagnosis I found a poor connection at the engine computer. Problem solved and over $7000 saved. The computers are so interconnected that you need the full picture to determine the source of the problem.