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Recently purchased e430 and noticed that the car often will not shift properly

(2000 Mercedes-Benz E320 4MATIC)
in Fort Pierce, FL on January 17, 2013
whn going from first to second it might require a manual nudge on the gear lever and finally will often get stuck in second usually when getting on or off highway. However if you pull over and stop the engine and restart. It then will run normally. It seems like an electronic or actuator type problem. Can someone maybe give some helpful advice
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