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Isn't this a symptom of the bad wave plates that were in quite a few of the 6T40 automatics in the '11s and early '12s? That was one of the things they changed with the redesign of the transaxle in the 2012 and later models. They also redesigned the shift solenoid valve body at that time. Proper maintenance of the ATF is paramount and could lead to poor shifting (and other maladies) if ignored.
OP: Are you the original owner of this vehicle? If not, how many miles were on the odometer when you purchased it?
OP: Are you the original owner of this vehicle? If not, how many miles were on the odometer when you purchased it?