Renault Vel Satis 3.0dCi Ph2 - Gearbox problem

In the video, you can hear the noise gearbox does when switching from 4th to 3rd gear. Audio was edited! Noise isn&so recognisable while driving, but you can feel that car shakes a bit. All other info is in the video. At the end of the video there is also an acceleration clip to see how gearbox switches between gears. Renault Vel Satis 3.0dCi 2005 Ph2 Initiale Paris P9X 130kw Isuzu engine with Aisin SU1 automatic gearbox