WARNING: This page is about a different car, the 2007 Cadillac SRX. However, it is still accessible from the selected car via links, so may be relevant.
Harsh Garage Shift
Checks
Causes
1-2-3-4 and 3-5-R Clutch Assembly (51)
Inspect for damaged or worn 1-2-3-4 clutch plates (408-410).