I'll bet you've also noticed that it's a smooth, gentle takeup rather than a clunk de hump seen with other makes, models. Ahh.. the German engineering. If you do not have any other problems with the tranny, you are fine. Learn to love your new car. How 'bout the 300E. Anything similar. probably a little shorter..
2000 Dodge Grand Caravan SE
No matter what you fix, there will always be something else to fix..
"Warranty" is just another way of postponing the inevitable.