dsg long warm up time

My 2006 Jetta TDI requires about a ten minute warm up time before the dsg transmission will engage correctly. The average daily temperature at warm up time is 71-80 degrees farenheit. It seems somewhat excessive to me. I can only drive in 1 or 2ND gear till then with the PRNDS blinking at me. It does not appear to be leaking fluid anywhere. Can't do reverse until it is fully warmed up. Any thoughts would be appreciated, thanks.

OBD works, start there.

Has the dsg oil and filter been changed within the last 40,000 miles?

oil changed

Yes, the oil and filter were changed shortly before I received it. It has 177775 miles