According to carfax its been 100k miles since the ATF was changed. Figured since I've been going to autocross and drive in manual mode 95% of the time probably a good idea to have it changed, especially since I want to get full exhaust and tune in the near future. Took it to the local dealership and they took one look at the odometer (nearly 170k at the time) and wouldn't touch it. They said since that it was high mileage and it whined in 1st gear and flared the 3-4 (never once has it done that when I'm driving my guess the tech miscounted gears) that the transmission was doomed and I should be saving up for a new one. I said "ok" then proceeded the drive the car exactly the same way I had been for the next few months (I like hearing my exhaust). Since then the car has been mostly ok but noticed a few new minor hiccups from the transmission, in addition to the usual 7AT clunky stops and 5th gear flare under light throttle. Then a about a month and a half ago it was in drive and shuddered when I lightly got on the gas at ~25 mph, so i parked the car for a few days, but hasn't done it since. The car also dips down to idle speed if the rpm in gear is too low (under 1700rpm) when you let off the gas then goes back up when you ease back into the gas (im guessing its fully unlocking the converter but idk why, it does it in M4,5,6,7 and Drive). I figured I'd post on here cuz its eating away at me idk if my transmission is about to blow or I'm being overly concerned and I should change the fluid out and forget about it.

 

I'd do a drain and fill, or find a shop that will. Don't flush it.