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I have an almost 90k mileage 2009 MDX base model. When cruising around town between around 35mph the car shifts into 4th and that puts the RPMs around 1400. When I press the gas pedal lightly it lags or hesitates. If I press the pedal a little harder and it finally downshifts to 3rd. Is this a problem and if so what can be done?
 

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If you haven't replaced your transmission fluid, I'd start there first. At that mileage you're due for one anyways. Start with the simplest thing and go from there.
 
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