I have a 2005 Mustang V-6 with 5R55S transmission.

Lately once the car has warmed up when I put it in reverse it will hesitate for a few seconds then go into reverse - sometimes hard sometimes not.

When the car is cold it goes right into reverse no problems. After driving for some time then you notice it.

Car has about 95,000 miles on it.

Took it to a transmission shop and they want $1,500 to fix it. I'm afraid to see what a Ford dealership would charge. They basically just want to put a rebuilt transmission in it.

Any ideas would be helpful,
greg