Dsg transmission failure pls help

Transmission malfunction- shift to P I was driving to work one day and suddenly out of nowhere I get a "transmission malfunction- shift to P sign on my cluster. I slowed down to pull over on the side of the road and it just suddenly went away like nothing even happened. I went back to drive and it was normal and a couple minutes later the sign popped up again. Pulled over again to park and I shit you not it completely went away. I got mail from Audi and realized they were extending warranty on the transmission for a flash on the dsg transmission. I gotta look into that. What is going on? anybody dealing with the same problem? Any help would be greatly appreciated