My '02 V70XC 5AT Geartronic show signs of lag when shifting from R to D. Occasionally it jerks too when the gear engages. The tranny oil replacement and updated ETM software doesn't help much. The mileage was about 70k miles. This is a well maintained car with full service history.
So off it went to the indie Volvo garage. The valve body was the culprit and the inspection confirmed it. So it was duly replaced with the updated design that was fitted to '03 Volvo onward and have the other items checked and inspected too. Good thing the extended warranty take care most of the bills. Does not cover consumables like oil but that's ok. Now running as good as new and so smooth.
2002 V70XC - Polarartic/Oak, ESR, 5AT Geartronic, leather package, factory towing kit, tinted windows and screens, tracker, sunglass holder, center console cup holder, nylon cargo barrier, luggage net, Ipod connectivity, R instrument gauges 150k kms to date