Next step is get it to a dealer and check that you have the latest gearbox software (TCM) installed. There are several issues with these gearboxes which manifest when it's warm which can be overcome with software, either jolting when moving from P N and R and setting off.
Only a Volvo main dealer, or one of just a few accredited independents can do the software update.
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2011 XC90 D5 Executive
2003 C70 T5 GT
2012 Ford Ranger XL SC
1977 Triumph Spitfire 1500
1976 Massey Ferguson 135
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