Struck

I have a 2015 A4 with 14k on it. My indicator actually states not to warm the engine without the car moving but in sub 30s both my clutch and gear box are difficult to maneuver. Reverse is an almost impossibility unless the car has warmed up for at least five minutes without forcing it into gear. I've read posts with this happening on older models but I'm wondering if anyone has a similar problem on a newer one. If I can't shift the car, I'm not sure how Audi expects me to warm the engine without it being stationary. I have a 2001 Honda Civic with 230k and the original clutch and never has this problem.