Delay in reverse
For the ZF8, going neutral to reverse closes the D clutch. Maybe there's an engagement issue with the D clutch on yours.
It's any different shifting from D to R, vs. from P to R, vs. from N to R?
The D clutch is also closed in 4th-8th. If you're having shift delay from 3rd to 4th also, that might point more to the D clutch. But if 3>4 is seemless, then maybe it's not D clutch.
Pull DTCs and see if anything is there.
For the ZF8, going neutral to reverse closes the D clutch. Maybe there's an engagement issue with the D clutch on yours.
It's any different shifting from D to R, vs. from P to R, vs. from N to R?
The D clutch is also closed in 4th-8th. If you're having shift delay from 3rd to 4th also, that might point more to the D clutch. But if 3>4 is seemless, then maybe it's not D clutch.
Pull DTCs and see if anything is there.
The lined plates of the reverse clutch are connected to the ring gear and the steel plates are connected to the gearbox housing. When the reverse clutch becomes positively engaged, it holds the ring gear and thereby prevents the gearbox housing from rotating on starting. Torque is then transmitted to the planet carrier, which begins to rotate in the opposite direction to the engine. The vehicle reverses. When reversing, road speed is limited electronically. The variator remains in the starting torque ratio.
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