Welcome to the forum.
It could just need a transmission fluid change. Give that a try to see if it helps.
If it doesn't, then I'd suspect something more serious like an input sensor failing. It could also be clutches or solenoids failed/failing inside the transmission too.
In the first instance, get the gearbox oil changed. You need to bring it to a Volvo Specialist ideally, or someone that knows about these transmissions to get a fluid change done. Don't bring it to a backstreet garage, Kwik Fit or Halfords!
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2007 S80 2.4 D5 (P3 chassis) - 110,000 miles
2008 V70 2.4 D5 (P3 chassis) - 163,000 miles
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