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My '98 has a 5-10 second delay before it shifts into reverse. This delay length depends on how long it has been sitting and doesn't happen all the time while being driven.
Has had numerous complaints about valve body problems. When I changed the filter on my 97 I found all the valve body bolts loose. These should be torqued to 7-8 ft-lb which is just a good twist. DO IT NOW WHILE YOU STILL HAVE A GASKET. There is a large area next to the low/reverse servo that is unsupported by a bolt where the gasket is prone to failure. Several have reported multiple failures. These double sanwitched gaskets are only 0.008 with a steel seperator plate between. It should be noted that for the older A4LD there were optional double thick gaskets for transmissions that had warped some. As they attempt to take every ounce out of a casting to increase CAFE, warpage is bound to become more common.
Ive got the 91 A4LD.apparently they havent yet cured this ailment on the assembly line .All thats required for the fix is redrilling a hole in the programing plate from the 1/16th to 1/8thit should be.I had the same problem before i rebuilt and none after applying this fix.I cant accurately describe the location but you may come accross the tech update if you scour the internet or ask some savy mechanic who,s rebuilt them by the hundreds(and theres lots of them dudes).Oh yeah...the other fix that accompanies this problem is an updated seal for the reverse servo piston.Apparently its designed with a small lip that wipes the bore clean after aplication of reverse.For some reason this is neccassary for prolonged life ....i guess thats the logic.
became standard on the reverse servo in the 5R55E. While drilling the feed hole out is interesting, it was done to overcome the large leakage of the standard round O ring. This would just mask the real problem. The cold flow viscosity of the fluid has also been greatly improved in the last couple of years. If the transmission shifted when it was new, it doesn't need to be drilled out.