Mercedes SLC Diesel Transmission Problems

That sounds like typical transmission control unit failure, especially the electronic parts that control shifting and how it talks to the car's network. I've seen similar stuff on other brands. An Audi A6 I worked on had similar problems with its mechatronic unit, causing it to go into emergency mode and shift weirdly. A scan showed a bad control module that needed replacing. Can you share the exact error codes from the scan? That would help figure out what's going on.

I don't have the error codes right now. I'll need to get them. Is it safe to keep driving the car

Since it's in emergency mode and making grinding noises, I wouldn't drive it. You could make the transmission even worse. Emergency mode is there to stop big problems, but driving it could still hurt things. Get it to a Mercedes-Benz transmission shop for a checkup and fix ASAP.

Thanks I had the car taken to a shop. They said you were right, the transmission control unit was bad. They replaced it and it's fixed now.