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Sorry to hear you are having this problem with the car. It is unusual to have this type of problem with these,especially if the transmission has been serviced.
It's simple advice really, get a second opinion from a transmission shop. Do not tell them what the dealer has told you and compare notes. If they both determine the same issue, then I would chat with them about possibly installing a used transmission. The cost would be a whole lot less then 7 grand. You could probably get a used one installed for more like $2000-$2500 labor included and save yourself a lot of money. The labor for the installation is only about 8 hours.
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