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I had same problem with 99 ML430. The fluid indeed revealed a BIG problem - pieces from broken rollers and teeth. See the pictures. And the culprit was the bushing between input and output shafts in the 3rd picture. It was worn after 148,000 miles more than .040".
Drop the pan and take a look. If you see metal in there I'd suggest stop driving the car to avoid more damage and have the tranny rebuild.
Mike
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