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Check the linkage to the shifter to confirm it didn't just come apart while underway and the flex disks to see if they might have let go. Other than that its prob time to drop the pan and see whats in there.
BTW - The OP's trans is pre-lifetime fill as it's a 722.4 and "Lifetime fill" was revised years ago. MB's current recommendation for 722.6 and 722.9's is to change fluids once at 39k miles. THAT will prob change in the future too.
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Terry Allison
N. Calif. & Boca Chica, Panama
09' E320 Bluetec 77k (USA)
09' Hyundai Santa Fe Diesel 48k (S.A.)
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