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My beetle has 141,000 miles on it.Is it time to replace my transmission? on 2002 Volkswagen Beetle

My beetle drives and runs great, but when I try to switch from R to D or D to P it whines like someone's trying to crank it while it's already crank.

Asked by for the 2002 Volkswagen Beetle
COULD BE SEEKA FREE DIAG AND EST FROM AAMCO AND THEN SHOP PRICE
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