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Ideally I'd say the next step is to plug in a dealer level scan tool that can pull off the fault codes for the transmission
but its also well worth checking the oil level and check its level with the gearbox warm and just after you've moved the selector through all the positions leaving it for a few seconds in each one and then back to park.
You can top up the box through the side fill plug if required and make sure you use the correct oil for your car as the fluids are not all the same. Some manufacturers recommended a change of the type of fluid - Speak to the local dealer and parts dept - they will advise you on the updated fluid to use..
If that’s all OK then check all the electrical connections of the gearbox, remove each connector in turn and spray with contact cleaner. Check that the wiring to the gearbox is in good condition with no chafing or frayed wire
If this is OK then check the selector lever linkage / cable under the car for any broken parts and or missing bolts as if this is coming adrift then it can rub on the car body or just bind up
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