Most people just clear the adaptions using diagnostics then over time allow the gearbox to re-learn.  However to do the job properly a sequence of short accelerations is required, going up 1 gear at a time before stopping and starting again then repeating the whole process multiple times.  I have the documented procedure somewhere - I did it in my D4 after its rebuilt gearbox box was refitted.
				
			 
			
		 
			
				
			
			
				MY21.5 L405 D350 Vogue SE with 19s.  Produce LLAMS for LR/RR, Jeep GC/Dodge Ram
VK2HFG and APRS W1 digi, RTK base station using LoRa
			
			
		 
	
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