Cam Fuller

I am a new owner of a 2003 Audi Allroad 2.7t with the 6 speed manual transmission. The car has been a dream until yesterday. I was driving downhill, 30 mph, and as soon as I got out of gear and tried changing up, it wouldn't go.
There has been no clutch problems, ever. No slipping, noise, smell, nothing. I can start the car in gear and with the clutch in, but the clutch doesnt engage completely, allowing the car to creep forward. Then when i let it out, it crawls normal speed; the clutch feels like it is stretched or something? I did some research and found that the clutches are automatically adjusted.

What could this be? I am quite mechanically inclined and replaced my clutch on my 2004 VW Passat. Anyone have any ideas of what it could be???
Any ideas are appreciated!