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?

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