Hi, I have a 2000 Mb E320 4matic that has a grinding sound when put in reverse. It seems like the drive shaft is not engaging into the gear teeth. In forward (drive mode) you can feel that the drive shaft is engaging and it doesn't move unlike in reverse that it continuously rolling and having a grinding sound. Also in drive mode the car moves unlike in reverse mode, it won't move plus the grinding sound. Also, there is a fluid coming out (tranny fluid) when the car drives forward (not a drip, it's like gushing out of the tranny, where the drive shaft is connected. Is this a tranny issue or a drive shaft yoke issue? Any help would be highly appreciated. Thanks in advance.