2004 Mercedes Benz Other automatic transmission shifting problem

have you checked the transmission fluid? it could be a carrier bearing also known as the centers for bearing of the driveline or a bad U join or a bad transmission mount

thank you for your cooperation and quick response.
I couldn't check the transmission fluid as it has no deep stick at all. Do I have to go to the dealer to check the fluid? or is there any other method to check?
best regards

have you noticed if the car has had an oil leak? the way they checked the fluid: the caller has to be level and completely warmed up and you checked the fluid while it is running usually on the left, so you will have to take it to a shop and have them check the fluid also have them check the other things that I mentioned transmission mount, driveline centers for bearing, Andy you joints. let me know what they find,

Thank you for your suggestions on my problem. I just drained the fluid to change but I found only about 2 litres, and I found a broken bronze on the drainage magnet has the shape of synchroniser. What do u suggest me please?
Thank u so much

I am sorry about that, looks like the transmission is going to have to come out taken apart and repaired, the "bronze" piece that you found in pan sounds like a thrust washer, the transmission will have to come out.