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Reverse acts like neutral when engine is hot. All gears work great and reverse does when cold!

My 2007 Yukon Denali acts like it is in neutral when shifted into reverse when the motor is hot, but drive and everything else work fine. There is a hesitation shifting from 1-2 gear but that's it. When it's cold it works fine and has all gears and still slight hesitation when going from 1-2gear. The dealer told me to replace the transmission but other forums and tech pages say it might be an easier fix. Advice please and thank you.
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Not much one can say from this distance---modern automatics are pretty complex and they need to be diagnosed and tested--both with scan tools and external pressure tests, and then visual inspection dropping the pan.