Q: Transmission light is on

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transmission light came on . every time i drive i feel like my wheel is woobling every time i shift from n to D it takes about 3 -4 seconds for it to change . i cant hange it from N to D and press the gas or it will goo slow and make a noise until 5 seconds later then it drives straight but with the wobbling issue so i dont know whats going on and what to do ? im really tryna save money . not tryna replace the transmission

My car has 34000 miles.
My car has an automatic transmission.

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