Transmission issue C220 W204
Does turning the car off and back on fix it for a while? Have you scanned it for codes? Are the garages you've take the car to Mercedes specialists?
There are a couple of control modules in the transmission (7G-tronic) that begin to fail and will behave as you describe. The fix is a new conductor plate from the dealer (~$1500) or a conductor plate repair from Circuit Board Medics ($400 plus labor if you don't do it yourself).
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