Some what of a newby, bought 2008 E4 about 9 months ago.
I know this has been discussed before, mine problem is a little different.
Tried all the suggestions in the other post.
Replace Mode switch about 1 month ago, worked fine, parked up for a week
starting having these symptoms.
Only does this when you select Reverse, Turf and Road Modes work fine.
Get 06 Code if you select Reverse and press accelerator.
Any help will be appreciated.