PROBLEM RESOLVED (Well so far)
So no matter what I tried adhering to the specific Software N for the relearn process I could not get the car to change into 4th at all and it would go straight into limp mode. So out of frustration I decided to change from 15-25% throttle position for 3rd to 4th gear change to 100% and fully release throttle making it change under no load at which it did fine and smoothly( absolutely not recommended to do through a relearn process because of the potential to damage the transmission)but hey I was ready to burn the car to the ground at this stage lol. Once the car was in 4th it cycled through to 6th as per normal. i then used steptronic to change down to 5th and accelerate lightly then coasting to an appropriate speed to change down into 4th and the same into 3rd the rpm was about 3-3500. I then accelerated lightly to about 4000rpm and upshifted into 4th expecting the tranny to explode but it did it nice and smoothly. so I decided to coast the car to a complete stop using very very light braking changing down through the gears all the way to 1st stopped for 10sec then set the transmission into Drive and cycled through the gears at 25% throttle position and it changed into 4th how it should then continued the relearn process for software N.
Hope this makes sense its the very first thing I`ve tried with Inpa. Maybe I should have started with something a little bit simpler lol