I recently took my 07 escalade to the dealership for the 30,000 mil service. In addition to the 30,000 mil service i told them i was having trouble with the transmission. i.e. when i would put the car in drive or revers the car would jerk back and forth kinda. Also when i would stop at a red, there would be a thumping feeling. At first they blamed it on the oversize wheels, but after looking into it they told me that there is a transmission upgrade. they mentioned something about recalibration. If anyone is having the same problem take your car in and ask them to upgrade (re program) your trani system