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The ZF is the 6HP. I have no idea what the 6HPTU is--maybe "Transaxle" for X-Drive?
I don't have a lot of faith that resetting the adaptations will help though. Mine was doing jerky things and slipping during hard 4-5 shift. I just got run around by a trans shop for 6 months before they finally got it right. They did a complete rebuild minus the mechatronic. Turned out it needed a new one from ZF to finally fix the problem. I don't know if it ever needed an overhaul as it demonstrated the same behavior a few days after an adaptation reset.
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