I brought my car to a transmission shop and was told that the tranny needs replacing. It was test-driven and based on their findings, the clucth lining is worn out. The cost to replace it (repair/rebuilt) between 2100 to 2500 dollars. Others ranged from 2500 to 3500 dollar, not dealer's price.

__________________
94 E320 Silver 210000 miles
94 740il Pewter Green 97000 miles- Retired
05 S430 4Matic
07 Lexus IS250