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When you say the engine is racing are you saying it revs up but dose not pull while in gear?
Can you answer my last question, are you saying it revs up but dose not pull while in gear?
If in fact its slipping then yes they are unfortunately likely right. Having the oil changed as well as the fuel filter should not have affect it. It is a bit odd that it would go out at 55,000 miles but can happen and if you are doubting them then I would take it to a trusted shop and get s second opinion.