Please read the FAQ and use the search function. VW 09A solenoids are the same for all the tranny codes, so you can use the troubleshooting info already posted.
No reverse on 09A, especially when cold and improving when the car warms up, is well covered here in many previous posts. And yes, usually that can be fixed with a solenoid, or better yet, a set of all nine solenoids.
Any good independent VW mechanic should be able to change the solenoids for you, especially if you get the parts. About $360 for the set of nine solenoids.