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Deano,
I had this happen to my 2001 TD5 - after some web searching there seemed to be strong possibility the gearbox selector switch on the LHS of the auto box was the culprit. But the cause can be the a/c drain pipe which empties water onto the switch, as its located directly above. Deep water crossings apparently can cause similar issues. Its easy to find it - just look for the wet patches under the vehicle after driving with the a/c on. After time its quite possible for this switch to be damaged by moisture, but I found that once I re-routed the drain pipes (there is one each side of the transmission tunnel) with some clear PVC pipe, and sprayed some WD40 in the switch, the problem went away and has not returned. Its a bit fiddly getting the hands in there, but cost no more than $2.
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Have already sold no1 son into slavery to buy bilsteins for the P38. Considering selling no 2 son into slavery to pay for tomorrows work . Watch this space will advise.
Deano