DSG 7 speed OAM/DQ200 Mechatronic testing

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Hey man. I have a dq200 7 speed my car isn't going into reverse and making a lot of noise only in reverse but in drive gear it's working smooth as butter can you give me some suggestions as the people at VW told me when they scanned the error was in mechatronic

anki
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Greetings, can you share the part number of the tool and where can i get it?

lucianodominguez
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What's causes those forks to stick?

troytechkeys