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I'd 1st check the fluid level on the transmission is correct and the fluid is also in good condition
check its level with the gearbox warm and just after you've moved the selector through all the positions leaving it for a few seconds in each one and then back to park.
You can top up the box through the side fill port if required and make sure you use the correct oil for your car as the fluids are not all the same. Some manufacturers recommended a change of the type of fluid - Speak to the local dealer and parts dept - they will advise you on the updated fluid to use..
If that’s all OK then check all the electrical connections of the gearbox, remove each connector in turn and spray with contact cleaner. Check that the wiring to the gearbox is in good condition with no chafing or frayed wire
If this is OK then check the selector lever linkage / cable under the car for any broken parts and or missing bolts as if this is coming adrift then it can rub on the car body or just bind up
so reading the notes this looks to be an SMG ( automated manual) gearbox? so there's no clutch pedal but its otherwise a normal manual gearbox with the gear selection automated
as the transmission works OK with the wheels in the air I suspect that the clutch plate may be stuck onto the flywheel
now the normal 'fix' in this situation is to start the car with it in gear and drive the car up and down the road
usually the clutch will then let go with a 'bang' and the gearshift will be a bit rough for the next few hundred miles while it all beds in again
with this scenario I doubt that the electronics will allow you to start in gear and if the system doesn't see the correct input shaft speed it won't let the clutch out
so sorry to say I think the next option is to remove the transmission so the clutch plate can be prised off the flywheel and new parts fitted
Its about 5-6 hours to remove the transmission and then remove the old clutch plate and then fit new parts, clean it all up and refit the transmission
so say 6 hours albour plus $400 in parts for a new clutch plate and sundries
do you still need help?
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well the other possibility is that the hydraulic pump has failed so there's no effort available to push the clutch fully
however this normally flags up as a fault
yes the ABS fault needs investigating but I doubt its related to the SMG issue as its a seperate system but its well worth getting the ABS code pulled off