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Dear Don a,
I recently had a problem with my GMC doing the same thing, and it had the same transmission as yours.
The solutions for mine were the shift solenoids inside the transmission case.
Because I was driving a GMC van/motor home conversion, the local transmission shop could not fix it, so I had to do it myself.
I pulled the transmission pan, ( I had already purchased a transmission pan gasket and filter kit ) and found the two shift solenoids at the bottom edge of the transmission housing, and held on with 2 screws each.
I had to buy the solenoids at the local GMC dealer, they cost me $ 39 each.
I had the whole job done in 1 hour, and I am slow!
P.S. I found I had to tighten the transmission pan gasket several times because until I had the screws REALLY tight, it continued to seep oil.
God bless your efforts.
You'll need to remove the pan and fluid from the underside of the transmission to access your filter. Also, keep in mind that you'll need to replace the pan gasket with a new one before reinstalling. Most, but not all, transmission filter kits will come with the new gasket included. Refer to manufacturer info for exact procedure and torque specifications.
It is inside the transmission. Be sure to obtain a gasket kit along with the filter (use Permatex #2 - non-hardening gasket sealant).
Before you drop the pan, drain the transmission fluid through the metal line that goes to the bottom of the radiator.
Look for metal filings ion the pas and clean it. Don't change to any exotic transmission fluid. Transmissions don't like "change".
I have same problem with a 95 4runner 4wd 3VZE engine and A340 H tranny. I had previously had a real bad problem with all gears "neutralizing" where car would rev up but not move forward or rear in any gear. I spent $ 1,500.00 for transmission and transfer case rebuild, and problem not solved. After months of research, I found out there is a "valve body" which is a an electronic plate inside the transmission drain pan right above the transmission filter. These valve bodies have solenoids which act as mini pumps inside transmission. I ordered a kit through a San Antonio, TX independent distributor (# 1 solenoid, # 2 solenoid, and a so called "lock up solenoid". Kit comes with full details how to replace those three sensors. I did job myself one afternoon..no problem. 4runner works like new now except for the reverse which acts as you mention. There is a fourth solenoid in the transfer case (not transmission) whcih was not part of the "kit" I bought. Although I'm not sure it is the cause, after replacing the other solenoids, the fix was dramatic on the forward gears. I'm currently researching if solenoid # 4 may be the cause of the reverse gear still not working fine.