The problem, caused by failure of the transmission shift cable, has led to 28 crashes and four injuries but no deaths during the past seven years, GM said in a statement issued today.
The Auras can roll away unexpectedly because the driver may think the car is in "Park" when it's in another gear.
In a letter detailing the recall submitted to the National Highway Traffic Safety Administration, GM said it had a plan as of May 23, 2013, to reimburse owners for transmission cable repairs. It was unclear why the cars weren't recalled sooner.
GM is already dealing with the delayed recall of 2.6 million small cars due to a deadly ignition switch problem. Two congressional committees, the Justice Department and NHTSA are investigating how GM handled that problem, which it knew about for at least a decade before deciding to recall the cars in February.
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GM says at least 13 people have died in crashes linked to the switch problem, but trial lawyers have at least 53 wrongful death lawsuits pending against the company.
GM says the shift cable can fracture. If the problem happens while the car is moving, the gear shift could show the wrong gear, and the driver won't be able to shift into "Park" or remove the ignition key.
The cars affected by the recall were previously covered by a 10-year, 120,000-mile extended warranty. But drivers had to have the problem for the coverage to kick in. Similar vehicles, including some Auras and the nearly identical Chevrolet Malibu and Pontiac G6, were part of a recall for a similar problem in 2012.
GM says the affected Auras were made between April 24, 2006 and Oct 31, 2007. GM stopped making Saturn vehicles in 2009 as it headed into bankruptcy protection.