I'm going through the same thing right now. The dealer did a driveline service on my 2006 S model with roughly 50,000kms(approx.30,000 miles) on the OD. The first thing I noticed when I got the X back was hard shifting, especially into 2nd gear, in the cold. And as it warmed up shifting improved. The dealer test drove it this morning and agrees that there is a problem, so they would like to change the transmission oil to semi-synthetic. If that doesn't remedy the situation, they say they will replace the transmission. Given that my truck only has 60,000kms on the clock, I am a bit surprised that it may need a new tranny. Thank goodness for warranty.