Bingo! Bad synchro's, the dealer is full of crap. I had two complete rebuilds before 30K miles. When the car would not go into reverse I traded it in for an SRT-8. Be careful though. A lot of folks on here are in denial and will swear the T56 is the best transmission EVER. I have no doubt that it's good, just not good enough behind 400 horsepower and pulling nearly 4,000 lbs. Let us know how this turns out, but best to ready yourself for another battle with the dealership.