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Met:
I would start with the actual shifter. I don't know about getting into those and repairing them... Anytime my shop has an issue with one they just replace it.
Maybe you will get lucky and it is just a linkage issue. I have a lot of experience with their 4000 series and when they go it is always the forward gears first, but usually you still have a squealing noise in drive.
The a3 has a 500 series AT1545P, it's an oddball and other than a3s haven't...