An often neglected maintence procedure is regular transmission fluid changes. On the S series they should be about every 30,000 miles. Use mobile 1 synthetic tranny fluid for best results.
Is the ses light on? Retrieve any stored codes first.
These trannies are computer controlled. You might try disconnecting the battery for a few minutes. The computer will then need several drive cycles to learn peak performance criteria.
Good luck and let us know. :)
peppermrj
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Wednesday, April 25th, 2007 AT 7:03 PM