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Hello, with the warning light on it should be storing a code, it is possible the scan tool used could not read transmission codes. Does it have any symptoms and are you towing anything?
Ok, a hard or delayed engagement can be caused by a sticking pressure control solenoid in the solenoid body in the trans pan and wont typically set a code. with the mileage on the newer trans it can probably have a code stored for a slipping torque convertor clutch most likely or possible gear ratio code from a worn servo piston in the trans case. dealer can read all codes so that would be the way to go
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