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.

1 answer
COULD BE SEEKA FREE DIAG AND EST FROM AAMCO AND THEN SHOP PRICE