Gary,Sorry to break the bad news to you, but you do need a new transmission. Common with 2001 S60/V70 and T6 powered XC90 and S80's.
Been there, done that.
Best way to avoid this reoccurence when you get your new transmission installed is to have the latest transmission software updates installed and change the fluid regularly. Every 30k miles or so.
NO, and I mean, NO fluid is lifetime fluid!
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