Transmission issue . Car is fine when cold .when hot after about 25 mins and put in reverse after about 2 seconds it bangs in to gear oil was like black engine oil .dont think ever been changed 06 model 190k done a drain and fill 5 times and fluid still browney red . Not like the red as it goes in new . .new to the forum got a manual which is great but also got an auto was warned of a gearbox issue .thought I take the gamble as like an auto ! Any ideas

 

did you also drop the pan and inspect the pick up and look for debris? (debris being bits of the wet clutch)... You may be able to clean the screen/filter to help improve but it may be in need for a major service or replacement assuming you want to solve the hard shift. The other possible cause is a weak solenoid - google around for common symptoms but the solenoids can be replaced with the transmission in the car.