it usually the case that oil aged / overheat then degraded over times (especially towing) then ruin the rubber within mechatronic on zf6hp26.
if the fluid change doesnt do the tricks you may want to look at the sonnax zip kit
also good to check if solenoid for each gear need replacing
it seem to be a common "issue" for LR4
for a steering full lock in reverse you might want to be as gentle as your can to avoid stress up your CV joints etc
better check by vin decoder and see what frequency your TPMS equipped with.
afaik IID has nothing to deal with the additional new tpms sensor but clearing TPMS fault etc.
for your non oem route you could disable TPMS by IID for the startup warning
for oem route with new tpms sensor, your...
I suppose a warp disk would shake worse on your steering wheel when you apply light braking at moderate speed.
if that's not the case I'd look into tyre / wheels. (as other geometry steering related components been looked after)
sometime you get hints from your tyre wear pattern.
check your sunroof drain pipe (4 corner) if you have one.
got mine clogged (front right) and flooded into right a-pillar.
end up with compressor blast all dirt out of the drain tube and problem solved
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