Good afternoon,
Is the 4 matic transmission? It was an option in that year.
https://www.2carpros.com/articles/automatic-transmission-problems
I would start by changing the fluid and filter. It sounds like a valve body issue where the valves are not moving smoothly.
https://www.2carpros.com/articles/how-to-service-an-automatic-transmission
Make sure you use the correct fluid as it makes a huge difference in how it shifts.
I attached a picture of the valve body for you as well.
Roy
BB00.40-P-0236-12A Automatic Transmission Fluids (ATF, Sheet 236.12)
Type
Aral Getriebeoel .................... ATF M12
Fuchs .................... Titan ATF 3353
Mobil .................... ATF 3353
Shell .................... ATF 3353
MB 236.12 ATF 3353 .................... A001 989 45 03
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Saturday, July 11th, 2020 AT 11:08 AM