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2002 audi s4 b5 tip transmission
got this issue brakes pedal hard all time
car start normally no ABS ESP lights but when i hit to the road 1st gear OK at 2nd gear the ABS ESP light came up on the dash and the gearbox start acting up its won't change to 4th gear and i think its goes in natural
car rives and won't move till i turn it off clear the codes and its goes back normal again
the codes are
ABS ----
01435 - Brake Pressure Sensor 1 (G201): Implausible Signal
transmission ----
P0734 Gear 4 Incorrect Ratio
P0730: Incorrect Gear Ratio
 

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Have you checked the brake sensor to make sure it is fully seated and not damaged? Have you tried reseating the connection? If you trace the wire, it goes into the chassis, secured by a rubber grommet. You can pop this out easily and pull the wires with it and just tried reseating everything, clear the codes, and try again. Other than that, your shift solenoid may be going bad. Just guessing off the top of my head.
 
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