Difficulty getting it in !

My K11 Micra 1.3 auto has always been hard to get
into drive (forward and reverse) when the engine is running.
With engine switched off, movement of gear leaver is smooth so there cannot be a problem with the cable.

Recently, when coming to a stop, or when pulling away slowly, the car seems to lurch, sometimes with wheel spin. This is usually accompanied by a sound that I can only describe as the sound of a squeeking velociraptor !

I have tried all the usual things like checking fluid level, electrical connections, and replacing the electrical bushes in the transmission.

Has anyone had a similar problem, or can tell me what is causing mine ?
I am beginning to think there may be a problem with the ICU

Many thanks

Maybe it just needs some lube:)