My 96 W210 with a 4 speed is acting up.
When I put the car in reverse, I get a whining sound and then when I shift to N or D it seems like the car is still stuck in reverse. When in N, the car makes a whining sound and goes in reverse and when in D it continues to make the whining sound and jerks forward when I accelerate.
I had this problem for 1 day about a year ago but I fear it is serious this time as

Any ideas?

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2010 W212 E350 Sport
1996 W210 E320 (220K miles)

Sounds like the reverse clutches are worn out & the applying reverse piston is traveling too far.

A good trans shop can repair that, others would replace the complete trans. $1000+

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Thanks Doc for the info.
Do you have an idea what the cost of fixing just the reverse clutches and reverse piston would be?
I'm would have to figure out if the difference would be enough to just get those items fixed vs. getting the whole transmission rebuilt.

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2010 W212 E350 Sport
1996 W210 E320 (220K miles)

Word of advice. Get it resolved quickly if you can. I had issues with my 140's transmission and my mechanic told me about how the computer will compensate in these transmissions until it wears out the friction material. My car had a problem with the Valve body being plugged with crap because of the misinformation surrounding the "sealed for life" 722.6 series of transmissions. MBdoc's figure is about right for a repair. A rebuilt 722.6 is about $5-6 k installed. Bring it to a good independent and avoid dealerships and chain stores like the plague.