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Why does My Acura MDX engage into gear sometimes and sometimes not? on 2004 Acura MDX

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My wife drove the MDX the other day and said it started to shudder suddenly, and the D5 light started to blink, but she drove home. Now when I start it and put into drive(any D1-D5)it drives sometimes but sometimes it does not engage into a gear. When I remove the dip auto transmission dip stick,it seems to have a bit of a burnet smell. Can anyone make a suggestion to what the issue could be?
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IF it can make it to the dealer , get it there and have the fluid changed. If you go to an independent shop bring Honda/Acura ATF with you(4Qts.) The 'D' light was blinking because the trans control module stored a trouble code(s). Have that scanned , may be lucky and it's only a pressure switch. If anyone recommends a 'flush' tell them NO, ONLY drain and fill, but they may want to do that 2 or 3 times with a 10 mile drive cycle between them.