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Transmission problems

Hey guys,

I drive a 2005 4.4 X5. It has about 111,000 miles on it and unfortunately im having terrible transmission problems with it. Simply putting it into drive, I need to wait a good 5 seconds until the car is in gear. I took it to my local dealership and they said they would have to replace the entire transmission for about half of what the car is worth now. Is there a way to fix an automatic transmission without replacing the entire thing? I’m considering just selling the car.