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I got a fault code now that says, clutch pressure at limit so i need to change te clutch

Hello I have an Audi A4 2013 b8.5 3.0 tdi 245hp s-tronic. I have a really strange problem when going off. When i stop at a traficlight or put in reverse and then putting the gearbox on D, when i let go of the brake pedal it suddenly stalls. It comes up in the dashboard, Start Engine manually...

The gearbox have I allways done the service in time, even before. That is taken care of in time but its something else. I did it 2 month ago again just beacuse this problem showed up

Hello I have an Audi A4 2013 b8.5 3.0 tdi 245hp s-tronic. I have a really strange problem when going off. When i stop at a traficlight or put in reverse and then putting the gearbox on D, when i let go of the brake pedal it suddenly stalls. It comes up in the dashboard, Start Engine manually...