[dme123]

That's the torque converter lockup clutch failing to engage properly. I had the same issue with a ZF6HP automatic gearbox in an S-Type Jaguar. Anything newer than a 4 speed auto uses controlled slip lock-up, and yours isn't controlling the slip properly. Presumably when you put the transmission into "geartronic" manual shift mode it keeps the TC unlocked for faster shifting.

Changing the oil may help, but medium case you may need a new/refurb torque converter. If it's shifting fine otherwise you should get the fluid changed and see if that fixes it, but you should be aware that 130k miles isn't an uncommon mileage for these 5 speed AW boxes to fail at, if they've never had a fluid change.