Hi just thought I'd share my experience of my rrs 2.7 TDI 6 speed gear box fault and how it was a DIY easy fix! After returning from my holidays I found my gear selector stiff to move once in drive it would drive as normal but if I came to a junction or went round a corner it would feel like it had slipped into neutral. Now if you have this fault pay close attention to your dash gear display what I noticed is when this occurs the D (for drive)symbol goes off the dash! Pulling on the gear selector backover to drive allowed me to continue with my journey once home I jacked the rrs up removed the plastic under tray (behind the two metal ones) removed the gear selector rod as pictured and found the bush in it was partially seized (to remove it loosen the two 13mm nuts and slip out the rod) I lubricated the bush and used a small Allen key to rotate it until it moved smoothly I put it back together and it was smooth to operate the gear shifter, I've had no more problems! Job took no more that 30 mins

https://www.disco3.co.uk/forum/autobox-gea...31656.html

Fantastic link and write up on that link above shown in more detail than my own experience helpful stuff on this forum to Disco_mikey