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Honestly I am not sure what to tell you except I wouldn't be taking it back to the same shop.
It "sounds" like it is potentially the differential, not the transmission, but I wouldn't be sure about that.
Have you checked your tranny fluid recently? If it isn't changed and flushed regularly it can turn brown (i.e. burnt).
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1995 Legend GS: Acquired 6/22/06
1965 Plymouth Belvedere - Bought new and past to 4th Generation now
2005 Dodge Grand Caravan SXT - Wife won't let me get rid of it for an MDX. 
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