My 2002 EVWK has 58K miles. It's hard to shift into reverse, esp when cold, and there is an occasional lag.
The lag between P and R, P and R, R and D, etc. is a bit typical of these transmissions IMHO.
However if you're noticing a significant difference between when cold and when warm, you probably have any combination of low fluid and/or dirty fluid. I would have the fluid level checked (you might have a leak). I see you said that at 52K you had the fluid changed. Did they also change out the filter too? I'm thinking that since it was changed at 52K (and not necessarily at 40K?) that you had VERY dirty fluid and probably could be due for another change, since these changes don't get all of it out. Make sure the filter is changed as well. While in there, do the pressure adjustment screw mod too (search/google).
My questions-are there any signs of a transmisssion about to fail?
I wouldn't think so here. These are more typical of dirty or low fluid.
What is "limp mode"?
Usually does that to protect itself and refuses to go into some of the higher gears. Doesn't sound like that's what you are experiencing.
