99 A4 18.t Quattro Dogamatic NO REVERSE

I have worked on Air cooled and older water cooled VW's for a few years but this Audi beater I just got is throwing me for a loop. I put 320 miles on it yesterday, I just got it chipped a weeks ago and had numerous errands. Well this morning I decided to replace the plugs, the previous owner had auto lite platinum's, and I wanted to go NGK. Before I started I had to move the car and It wouldn't reverse. The lights came on, the indicator indicated R but it did not move. I managed to push it and it went in the forward gears around my little gravel circle but not well at all. There was no clunking or bad noises when I put it in gear it just didn't want to go. Well I cleaned the plug that is alongside the transmission and I checked the TCM. The car now will go forward, albeit very hesitantly at first. While I was checking it this morning the PRNDL lights lit up indicating it was in limp mode but that went away. There is a check engine light on, UNFORTUNATELY I AM AT MY DADS SHOP AND HE LOST MY SCAN TOOL ABOUT 6 MONTHS AGO. One more note I went to check the level and condition of the transmission fluid and when I opened the test plug copious amounts of transmission fluid came out. I wanted to make sure I had the right plug (It was the larger of the two) and the same thing happened when I opened the small plug. The car has 115k on it and runs well. Also it has been extremely Damp and rainy the last 3-4 days.