Volvo Repair: transmission?, transmission controller, park position

Question
I drive a 2002 xc70 turbo with 56000 miles. Car shifts through gears just fine when driving. Problem - gear engaging seems to hesitate when I put the car in gear from the neutral or park position. The car will lunge into gear so I must keep my foot firmly on the break until she shifts into gear. This occurs anytime I have to change from forward to reverse direction as in parking.  

Answer
Well its one of two things.  The transmission controller may not be adapting to transmission wear, or your transmission is failing.  To correct the controller, you need to take it to the dealer and have them perform a TCM (transmission control module) upgrade.  It will probably be about 135 dollars.  If that doesn't fix the problem then the only thing left they can do to correct it is to replace the transmission.  If that is the case you may be able to get them to cover some of the cost.  At 56,000 it just went out of warranty.  Bitch at them enough and they may give you a big discount or good will the entire job.

James