I'm betting there is nothing wrong with your Auto (if its got clean fluid to correct level).
I'd bet your MAF (AFM) has failed and is giving bad data to the transmission!
You're better off chasing it yourself first... Otherwise its going to cost you a packet.
Pop bonnet and unplug your MAF and then see how it drives...
If possible, find someone with a good working D2 TD5 (any age) and try their MAF and see how it drives...
MAF has a huge effect on the transmissions shifting


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