These symptoms also point to split open speed sensors - they start to act up when the ATF is hot. Check the deeper level codes and see what is wrong. You will need to read the ATSG manual to understand how this transmission works and what the codes mean.

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2012 BMW X5 (Beef + Granite suspension model)

1995 E300D - The original humming machine (consumed by Flood 2017)
2000 E320 - The evolution (consumed by flood 2017)