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5-4 ratio monitoring. Could be as simple as the bridge seal and/or the other four seals between the valve body (mechatronic) and the transmission itself, but most likely a faulty solenoid.
Continuing to drive it like that can turn a simple fix into a major one.
I would attack this as follows...
Step 1:
New pan/filter
New fluid
New mechatronic sealing sleeve
New bridge seal and four round seals.
If that doesn't solve it:
Pull valve body and replace solenoids
If that doesn't solve it:
Rebuild yourself or have the valve body rebuilt.
If that doesn't solve it, then you've let the slipping occur for too long and you will need new clutches.
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