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I can smoothly shift manually but not automatically...as if a clutch problem? on 2008 Mercedes-Benz R320 CDI

I can use the finger paddles and smoothly shift...i need to be sure the gear has wound down and it shifts smoothly...and automatically i also need to make sure the rpm's are down to allow it to go from 2-3 and then it shifts but also bucks a bit. If it were really the transmission it makes sense that it should not shift even manually? Could it be something like the drive selector module? Is that a computer part? Is it worth flushing fluid?

THIS COULD BE SEVERAL ISSUES, I REC YOU HAVE IT CK BY A TRANS GUY. AAMCO GIVES FREE SCANNING AND DIAG.IN YOUR CASE GET TWO OPINIONS
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