I hated that trans for the entire time I ran it(75k mi.). On 31x10.50 km1's, and the torque converter felt a little weak/slipping toward the end, too.

If that's the V4A51(INVECS-II) that I had in my 01 Sport, it's the one that-well, here's copied from Wiki-

Adaptive Shift Control software which monitored and "learned" the driver's habits over time and adjusted the smoothness or aggression of the gearshifts to suit his or her driving style

Maybe it's just the way I drive, but it never seemed to work the way I expected.

Off-roading was the same way, I never seemed to be in the gear I needed to be in.

My 2 cents, swap the aw4. Parts are more available, run the manual controller, be in the gear you need. Put your resistors in to fool the computer and have no trouble codes.

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