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Mitsubishi Magna transmission

Every time I brake at the lights the automatic transmission in my 1998 Mitsubishi Magna V6 disengages then engages with a bit of a lurch. I have checked the transmission fluid and it is up to the right level, but it is a brown colour and has a slight burnt smell. I am wondering if it has overheated or if the coolant has somehow contaminated the fluid. I am planning to do a complete fluid and filter change to fix it, but was a bit scared by the idea that there is cross contamination by coolant as my mechanic said if he is right am I looking at a complete transmission replacement. Would it be worth doing a coolant flush clean and replace as well?

It would appear the fluid has been overheated, so I would be doing a full flush of the transmission, not just a fluid change. I wouldn't bother about the coolant.

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