I have a 2006 diesel automatic Beetle with 197k miles. Been having problems when shifting in reverse or drive, with my foot on the brake it jerks and the dash lights start flashing. I can shut it off and try again and it's normal. It will do this almost every time. Have it in a shop and their computer states: "Internal Gear Not Engaging". But it's not something they want to deal with. Any suggestions, without having to take it to a dealership?? They scare me because of trust issues. Thanks.