audi a4 1.8t transmission problem

i have an audi a4 1997 1.8t but it wont go on reverse i drives real good it shifts gears good but when i put it on reverse it kind of wants to go on reverse but it doesnt go and under the p r n d 1 2 3 theres a something that shows the temperature but its off to does any one know whats going on with my car isit a censor a fuse whats going on please help

Take it to the dealer. Some problem with the gearbox.