2007 AMG E63, is stuck in 2nd gear. Will park, reverse ok, but stuck in 2nd

What is your question?

rough jolt when shifting into drive. One time turned car off and then it drove ok was shifting fine prior to getting stuck runs in reverse, and shifts into all modes, just wont shift out of 2nd

What makes this problem better or worse?

when warm

How long has your 2007 Mercedes-Benz E63 AMG had this problem?

today