w210 220 cdi lurch or shudder 722.6
 

http://http://www.youtube.com/watch?v=A6B1DYqthjY

Please take a look of the video where I hold my brake down in R, and give full left to the steering.
RPM jumps causing car to jump fprward or reverse.
This also happens when coming to halt at the light, feeling like somebody bumps into your rear.
Sometimes in series.
So far done:
New oil twice for 6 months+filter, gasket, plug -
genuine parts
Hydro-electric plate taken off, cleaned and returned.

Oil was detected in ETC module, rinsed and cured( could be the leftover from this problem reflecting in damage to the electronics)?

PLEASE

The link has a double http:// in it......

Out of my element with this type of trans issue; I'm wondering if the problem doesn't lye with the brake pedal or it's communication with the trans? It won't shift from Park unless the pedal is depressed. Might be an issue with the brake sensor???

1st time I've seen this issue so I reserve the right to be wrong.