Have you had any new tyres ? a difference of more than 4mm in tread can lead to a big enough difference in wheel speed measured at the sensors to make the control unit think the car is cornering and prevent changing up a gear.
My 97 523 did this if I booted it hard from stationary. It would just not change up from 3rd! I had to use the triptronic to get the desired gear. New tyres - no problem since!