P38 gearbox grinding and diagnosis (ZF4hp22)

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Sounds a bit like a problem I used to have on Leyland Hydracyclic gearboxes on buses. The valves would get blocked with cack and stick. Luckily they are extenally fitted and easy to remove and clean out. Regular oil filter changes helped. but I don't know if your box has a filter.
Yes the ZF 4HP22 has a filter but you have to drop the sump to change it.
 
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