Can transmission prob cause 2003 Audi A4 engine check light to illuminate? on 2000 Audi A4 Quattro

Car has 86,000 miles, unsure if tranny has ever been flushed or filled. Planning to flush, but had to order drain/fill plug tools from the outside world (Hawaii headaches).Periodically won't go into gear when in reverse, just revs, usually on cold starts in the morning. Recently gear selection box on the LCD started flashing when I put it in drive after it didn't want to engage in R. I noticed this at highway speed and put it into neutral, then back to drive. It wouldn't engage until I pulled over, put in park, then back to drive. Check engine light illuminated today. Question - Might dirty/low CVT tranny fluid cause this light to come on, or is it only associated with engine problems?

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