My car has about 103,000 miles on the clock and has the tiptronic auto transmission. I notice that in the morning when the car is cold, when shift the car from reverse to drive from backing out of my driveway, it takes 2-3 seconds for it to engage into drive. Once warm, the engaging does quicken up, but it is still not as quick to engage drive from reverse as, say my mom's Mercedes C320 (2002 model). I have checked the transmission oil and it's really dark brown and I can see some slight sludge at the end tip of the transmission oil dipstick. My questions are:

Could besides a flush/fill there be anything wrong with the transmission that may help?

How much does it typically cost to do a transmission flush?

Is it characteristic for the transmissions to be slow "engagers?"

Thanks for any input/advice.

 

I would start with the flush.
Not to sure about the price. Someone else here should know the price.

They go bad sometimes. Have you had all the Software upgrades done?