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AW 55-50SN gearbox

Having trouble with reverse on this box in my 2002 V70
Is fine when cold but when hot reverse has a horrible judder and vehicle shakes, let it cool and ok again.
Fluid has been flushed, I've checked the gear position sensor switch that was ok. Its not binding brakes ie rear shoes as they have been removed and it still judders. Going to check the S5 solenoid apart from that I am at a loss?
Help!






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