Claim against the car company for denying warranty coverage

Good morning,

I had an issue with my car Audi A3 when it gave a signal of gearbox malfunction. This happened during the warranty and it read you can continue driving.

I informed the service advisor of the same which they said it should be some system error and nothing to worry about. It was not even mentioned in the service history.

The next time I got the same error signal was 1 day before the warranty ended and I took the car to repair after the warranty as I thought again it is a system error.

This time they said the mechatronics of the car is spoilt and to replace it will cost 17000. I informed them that this happened during the warranty and should be repaired under warranty.

They said it was given after the warranty so they cannot consider. I repaired the car as I was scared it would breakdown any time.

Can I fight a case against this as they did not provide proper details which could've alerted me to submit the car under warranty?