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ford transit 2.4 td semi automatic?

I have Ford Transit 2.4 td semi-automatic 2003. When I am driving on the 5 gear for more than 15-20 minutes, the car would not change the gear automatically. So when I break it makes noise and I have to switch to neutral.
However when I am driving on manual mode everything works fine. What can be wrong with the car? transmission?
Richard, March 2010
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