XC70: Gearbox Auto Transmission Fluid Change

[sam1]

Forty - I had similar problems after buying my 00-07 shape 2007 V70 a few years ago.
Drove away and immediately engine system service required... Turns out it was the swirl flap actuator arm that had come off which is on the front left of the engine under the cover by the thermostat iirc.
In my experience 3 drain and fills with the transmission makes a difference and resetting the adaptions in Vida is a must. Software update made no difference in my opinion just use the correct fluid don't substitute it for lower quality claiming the same spec. I got mine from autodoc genuine aisin fluid and other times direct from Volvo.
The fact you got home from the 4h drive suggests maybe your problem isn't too bad?

Edit - I also found the 90deg rubber hose by the egr was very clogged with soot deposits, definitely worth removing and cleaning, mine had about 10-15mm around the inside! Massive difference after I cleaned it