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First thing I would do is get the transmission fluid changed and make sure the transmission fluid is at the full level. If it still slips, the clutch plates are probably worn and need replacing. That would be a transmission rebuild.
Thats a sign that you need to have the transmission repaired. You need to replace parts like release bearing, pressure plate and clutch disc. This parts causes the slipping and chugging.
If the vehicle is within 1200 000km/6 years you need to take it to the dealer and you will need to take it to the dealer anyway for them to retrieve the service code from the onboard computer to determine the service scope.
yes Mercedes changed the transmission service interval to 40k miles but then after that you don't have to service the transmission until you reach 140k miles. It is a good idea to the transmission serviced at this mileage especially for warranty purposes. There was a lot of issues with the new 722.9 transmission when it first came out. Which is one of the reasons Mercedes moved up the transmission service from 100k miles to 40k miles for the first time it needs to be serviced anyways. Plus if the transmission happens to need repairing the first thing the dealership will look for is to see if the trans service had been done at 40k miles before doing any kind of warranty work on the vehicle. As a former Mercedes Benz Tech at the dealership I would say yes it is necessary to get the trans serviced.
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