A4 2.4 SE Auto - no reverse power / hard to reverse

[stephen heather]

Hi, Good evening
Can someone help with a possible cause (and solution!) for my cars problem. Its an A4 '00' / X reg, 2.4 SE Auto (140k miles).

The car has difficulty reversing. The reverse gear can be selected ok, but if any throttle is used the car hesitates and stutters without moving. If the car is parked on flat ground, it starts to move when you lift your foot off the brake, and then you can accelerate slowely, but again it stutters and hesitates. If parked on a hill it is difficult (impossible) to get it going in reverse.

Any idea where I should start looking.
Thanks in advance,
Stephen

[fourringsrus]

Transmission fluid level,any visible leaks,error code scan