XC70 automatic transmission shifting issues

That sounds concerning. Worn transmission oil can definitely cause those symptoms, especially the emergency mode. When was the last time you had a transmission flush? It might also be worth checking the overall health of your battery, as undervoltage can definitely throw things off in modern cars with complex electronics. Has the car been struggling to start lately, or have you noticed any other electrical problems?

I haven't done a transmission flush yet. The battery seems fine; no starting issues or other electrical problems. Could a weak battery, even if it starts the car, still cause transmission issues?

It's tricky, but yes, potentially. A battery nearing its end might have enough voltage to start the car, but its ability to handle sudden load changes or maintain a stable voltage under stress could be compromised. These voltage fluctuations can absolutely mess with the transmission control unit. Since you haven't done a transmission flush, I'd strongly suggest starting there, but also have the battery load tested to rule it out. Considering the symptoms and mileage, a visit to a trusted workshop might be beneficial for a thorough diagnostic.

I took your advice and had the transmission oil replaced and a diagnostic performed. The workshop confirmed the automatic transmission oil was worn, and replacing it resolved the shifting issues. The repair cost 240€, thanks for the help.