2004 S Anniversary Edition. 27,000 miles.
At 21,695 I experienced the following: " Customer states that there is a fluid leak under vehicle. Found oil leaking from rear main seal. Remove and reinstall transmission. Measure Crankshaft and install new rear main seal. Clean Engine after repair." The time was 6.4 hours, and no charge because of warranty. The parts were the RMS and four screws. I don't know the rates at this dealer but I would assume around $110, so say $700 labor and probably less than $100 for parts, if you were paying for them.
That's it for the motor. A few other niggling squeaks, and the driver's armrest/door storage bin cover was replaced after about 2 years because the soft rubber stuff was peeling. No problem since.
Matt
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