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That error code is serious - transmission oil has overheated badly, suggesting a problem with the oil level and/or the radiator oil cooling loop or oil radiator core. This can also be caused by breakdown of old oil (this oil needs to be changed at intervals as recommended in your owners manual).
You had better check for any trouble codes using a code reader. Given the age of the vehicle, if you have an automatic transmission, the torque converter may have been damaged.
You may just have aerated oil going past oil pump seal and causing lifter noise. Replacing the seal will cure that. There is no valve adjustment noted in the Subaru maintenance schedule, so I would not.
20W-50 is not the right oil for a four-cylinder 2.5L. That is too heavy a weight and will give you a lot of trouble if used over time. If you are using 10W-30, stick with it. Insist the shop use 10W-30. If they give you any guff, take your car somewhere else.
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