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This is a common complaint and is caused by the seals in the transmission leaking fluid pressure. Try this, drain the fluid and refill and add a can of LUCAS OIL transmission conditioner, it may soften the seal up and cure the problem for awhile.
You clutch packs have worn out and the not shifting properly when hot confirms this, you may check transmission line pressure, hopefully I am wrong but most likely you need a total transmission rebuild. and a front wheel drive automatic is the most expensive rebuild out there.
Hi there. Although the Dealer has changed the oil, did they do a 'Stall Test' whilst the gearbox was cold and again when at normal running temperture? If not, that's what they must do firstly. This will identify whether you have a slipping clutch/s. The Honda autobox also includes what is known as accumulators - these control how each clutch is engaged during acceleration. For example, if you are accelerating slighly/smoothly, you want each gear to be engaged gently and smoothly, whereas, when accelerating hard, you need the gear engaged quickly and hard to aviod clutch slippage. Thus, the fact that you are experiencing a hard engagement might mean that an accumulator/s is seized. If that's the case, it will mean that the autobox will need stripping, cleaning and be checked for worn components. Hope this helps, Scottech.