Driving along the other day in 07 3.2L A6 with paddle shift and keyless GO the ESP Malfunction light came on and still remains on. The car sometimes has a difficult time shifting out of first in regular auto mode. A day after this happened my father put the key in the ignition to start it(force of habit) and when he parked it the key would not come out. Are these issues related? Any ideas of what is going on here?