I'll be honest, from having looked inside one, it could be a number of things but all are internal and not easy to get to without having the transmission out of the car.
I would try talking to Chester Transmissions or any other good ZF Transmission specialist and describe the symptoms.
It sounds like a drum/unit moving forwards and backwards inside the gearbox but could just as easily be a sticking solenoid...
Have you plugged in and had a look for any error codes from the transmission?
MG
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