I had a similar problem, but it was that the key wouldn't come out of the ignition. When I called Audi Assistance, they told me to tap the gear shifter and the silver thing that you push in to select gears popped out. It hasn't happened to me in three months, and when I brought it up with the dealer, they said that it's a very common occurence. They said, like you noted, the shifter was not in park all the way. Audi Assistance knew right away what the fix was, and said they get calls for it all the time, so unless it becomes a recurring problem, I don't think it needs attention with the dealer.

JMO

Bonnie
'00 2.8 QTX