Its your CSC, I have a 2010 with 7700 miles, and after hearing about all the issues with the clutch dropping to the floor, I went ahead and bought the upgraded CSC, CMC from zspeed, if I were you, I would do the same thing.
Remember the dealer is in business to make money, if I were you, I would have the car towed to a shop that does good work, buy the parts from zspeed, and have it done the right way. It'd be dumb to replace a bad CSC with another OEM (bad) CSC.
Good luck.
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Infiniti QX70 & Toyota Supra 3.0 Premium
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