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Mine is similar, worse when it is cold. Been like this since I bought it a year ago. I put Red Line in it and it got a little better, but not much. I might put genuine back in just out of curiosity. I have a 2000 'S' with 57k miles. One would think it should be a little smoother, I'm guessing something isn't perfect and might need some work but I live with it, it's not bad enough in my case to be bothered by it. I agree if yours is really difficult to shift then get it serviced.
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