I would get it on level ground, and check the fluid level. You can do it anywhere there is a flat surface. It's supposed to be filled until it runs out (speaking to my 2001 4.4) I would have the tech go for a drive or ride with you also, schedule it if necessary. Seems they would be more willing to help you having dropped that kind of cash.

Also, you can disconnect the battery for 15 minutes - which is fun to get to as you may know - but this will reset the car. (you wont loose adaptive values as a dealer has to do that or someone with Progman Software)

I just changed my fluid and filter at 177k miles (just purchased the car) and it still shifts like butter...

Best of luck, I know it is annoying.

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740iLDUKE
01' DINAN 7 S62 Swap - Stratus Grau
(1587 produced in SG 440)
02' 4.6is DINAN X5 S2 Supercharged
833/3258 produced | 1/27 Dinan X5's