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Just an update on this;
Got mine done for £360 in the end. Gearbox service and mechatronics seals using ZF parts.
A little smoother but still occasionally jerky. Notice it most when colder and accelerating faster away from standstill (can be jerky) and will occasionally hold onto 1st and 2nd a bit longer than normal and then suddenly change up a gear. Doesn’t happen as much as before though.
I have chatted with a guy who works with these gearboxes a lot and he has said that it can be quite common and an XHP gearbox flash/map can change it completely and get rid of what I was saying above^. As long as the gearbox with the mechatronics unit has been serviced, the solenoids are fine and there are no underlying issues. So I may give that a go in the future
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