Q: Grinding after stopping at light on 2006 Mercedes-Benz E350

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My wife's E350 (auto) after stopping at light will start making a "grinding sound" when she strts to give it the gas. Won't move much until she pulls to the side and runs through the gear shift. Then runs great the rest of the day.
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It doesn't sound like a brake issue, more like transmission. The Check Engine Light should be on and codes should be set.
I'd be glad to pull codes and road test.
My 2006 with 75K miles just started this too! No check lights but almost sounds like teeth of a flywheel spinning against a shroud of some type. Help.