Advice/Grinding at takeoff (p5 AT)

[vandenbusschebr]

So my p5 will make a grinding noise and feel when i accelerate hard from a dead stop. This only happens at dead stop. I have tried it rolling with the trans in 1st and it does not happen. Does this sound like a problem with 1st gear or something with the exhaust. I know there is a history of EGR valve problems but im not sure what the effects of carbon build up in the EGR does.

 

[rooster]

egr won't result in grinding, check the atf fluid and see if it's still good (redish color) if not drain and flush, and look for broken bits.

 

[vandenbusschebr]

The ATF is pretty dark on the dipstick. I bought this car used and do not have many receipts unfortunately. It is at 65k so probably due for a change. how difficult is it on a p5? I am not an expert mechanic but not an idiot either, i have done basic things like oil, brakes, and such. should i do this myself and save money just take it to the mechanic?