Audi Repair: 2001 Allroad tiptronic slipping in reverse, forward gears, speed tiptronic transmission

Question
Having problems with my 2001 Allroad 2.7T.  Car has done 83K and has the five speed Tiptronic Transmission.  Is working beautifully in all forward gears but has been slipping under load in reverse for a while.  I have tried having the transmission fluid changed (the old fluid didn't appear particularly dirty or smell of burning)  Unfortunately this hasn't helped.  sometimes struggles on even small gradients in reverse but can be coaxed up a small gradient by positioning back into Drive and then into reverse again.  An Ideas what's wrong?  Thanks

Answer
Unfortunately, the reverse gear is a weak part of the transmissions.  This will have to be adressed by a transmission specialist; and I don't know if there is an adjustment for this or if it is a major overhaul that is required.  Find someone that knows these transmissions, I have had many bad experiences with @@mco... But there may be some good ones.

Good Luck,  Jan