I have an Audi A4 Quatro that is a manual transmission that won't shift. The fluid is full have bled it. The clutch doesn't feel like it is bad when you push it or did not smell or make noise
I believe you are in the safe mode, you will need to check for a possible bad wiring connection, sometimes it could be a faulty sensor. If you can see if you can have the car scanned for any codes.
Search Audi A4 Questions
Audi A4 Experts