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Transmission Slips in Reverse, Sounds broken


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Hi everyone, I own a 2011 Cayenne S with 155k miles. Recently, I've been encountering some transmission issues that I need advice on.

Initially, I noticed a low-frequency vibration when the car was in P or N and the RPM was around 2000, which seemed like a torque converter issue. Following this, I did a transmission filter and fluid change, carefully checking the level at around 40C. The transmission pan and magnets were quite clean, showing only minimal shavings. This maintenance didn't resolve the vibration issue, but I decided to monitor it for the time being.

However, a more concerning problem has emerged. Just today, when reversing uphill, I experienced a significant slip in the reverse gear, accompanied by a clunk from the transmission. Following this, the car now slips and fails to engage in reverse, and there's a pronounced whining noise that seems to be coming from the transmission. I took the transmission pan, filter and valve body out and found lots of metal shaving. 

Before this incident, there were already some signs of trouble. The car shuddered only in reverse, and it felt like the tires were struggling to grip the pavement. I had checked the fluid and found it to be about 1qt extra, but adjusting the level didn’t make any difference. I've even disconnected the transfer case wires and experimented with engaging and disengaging the 4x4 without any improvement (pretty sure it's not TC related). Additionally, in gear 1, releasing the pedal as the RPM drops causes a noise and shudder, particularly if the RPM goes below 2. Pressing the gas pedal leads to jerkiness. The transmission codes revealed an error (P073000: improper gear ratio).

Given these symptoms, I think I need to replace the transmission. I would like to do it home. Do I need to drop the engine? Any instructions on how to drop the transmission (hopefully without pulling or dropping engine) is highly appreciated. 

Any advice or similar experiences would be greatly appreciated.

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