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It could be low on fluid as I do see some issues with the connector sleeve seals leaking. There is a dipstick tube on the transmission but no dipstick. There is a special tool needed to check the fluid which is an auto trans fluid Shell ATF 3403 M115 also used in Mercedes. To be sure of the fault we will need to read the fault codes in the TCM. A Jag factory tool or equivalent is needed to do this.