2005 audi a6, 2.0 tdi. turn key and warning (parking brake) and beeping come on. beeping sound stops after few seconds but warning stays. park solenoid releases alright. fluid level ok
you may need to get a diagnostic check done to identify fault . you could check to see if the handbrake is holding on both rear wheels when handbrake is on they have a habit of breaking wires to rear electric calipers
howtomendit.com for free repair help, information and advice.
Try fixfault.com to fix cars.