Dealer replaced it for just over 5k - no discounts. I guess if I had tried replacing the fluid about a year earlier, when the symptoms first showed up regularly (couple times a week), I might have saved it? But from reading these boards, half the people say never change the fluid, while the other ...

I had the same problem as OP and had the s/w upgrade done almost 2 years ago. The problem came back shortly and got worse. Then shifting from forward/reverse would have a 3-4 second lag. Then the downshift clunk started happening occasionally. Finally, was driving along and the whole transmission ...