S320 stuck in 1st gear

[Enno]

Hi everyone, don't know if someone can help. I have S320 1997 Limo which goes in limp mode sometimes and steering goes stiff at the same time, after restarting the car mostly drives normal. Since last 2 days car stuck in 1st gear, won't shift after 10 hours standing the car drives normal again but stiff steering. This morning again it won't shift out of 1st gear. Any ideas what could it be? Anyone know a good mechanic in leicester ? Thanks