I believe I should be able to pull the transmission myself....but $350 doesn't sound too bad to save all the hassle. Maybe I will just take it to a good euro-transmission shop and have them check it over for good measure.

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2016 Monsoon Gray Audi Allroad - 21k
2008 Black Mercedes E350 4Matic Sport - 131k
2014 Jeep Wranger Unlimited Sahara - 62k
2003 Gray Mercedes ML350 - 122k