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Car makes a vibration sound sometimes when shifting from 2nd to 3rd

(2008 Jaguar XK)
in Glenn Dale, MD on December 30, 2011
Randomly but mostly when driving at slow speeds or during uphill travels. It also sounds like a reverbance sound from the drive shaft. Dealer said other XK Coupe models have been known to make same sound, but the sound doesn't sound natural. Please help
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