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run the fault codes
shifting all over the place could be problem wiring/connections, TCM, ECM , transmission oil pressure , dirty oil, problem vacuum actuator, leaking vacuum hoses to actuator
Check with a service center for the dip stick but Ford along with other manufacturers have done away with the dip stick
take it to a specialist transmission service shop for a proper diagnosis but be wary if a new transmission is suggested
It is working but not as it should which suggest mainly , wiring, or TCM problems
The first thing is to check if you have enough transmission fluid in it. There is a dip stick and if you don't see any fluid on the dipstick, then add one half quart at a time and see if this helps. Also, there is a transmission repair fluid that may help such as "slip stop". List Transmission Treatments Additives Reilly Auto Parts
There is a transmission vent tube on top of the transmission, & when the vent tube sticks shut, it causes trans fluid to come out of the dipstick (path of least resistance), and/or, the trans pan gasket. This is a common issue w/ the 2000 Taurus. To resolve puncture the trans vent tube.
Taurus? It has a dipstick. It is near the brake booster. It is yellow. Is this a problem with it coming out of gear at stop signs? Does it just start working again or do you have to shut it off and let it sit before it starts moving again?
On most cars you put the transmission fluid down the same tube where you check the level. You want to ad just enough fluid, putting too much fluid in will do as much or more damage than running it a little low. On your dip stick there is an area usually mark min and max you want your fluid in between these lines. On most vehicles the difference between min and max is about 1/2 pint. There should also be printing on your dip stick telling you what type of transmission fluid to use.
It is probable that you blew out the seals and will need your transmission repaired. You can try to slip a small hose down the dip stick tube and draw out the extra fluid, there is a slight chance that your transmission will work if you get the fluid level back down where it should be.
Check your oil dip stick your coolant maybe mixing with you oil when you pull your dip stick for the oil if it looks milky then thats where it's going and the problem is a blown head gasket. For the transmission this year Taurus are known for the transmission to go out quick it's sounds like it needs rebuilt.Hope this helps.
It's right next to the air filter and behind the radiator fan and to the right of the oil dipstick. The transmissions is black and the oils is yellow. If it's a manual, there's no dipstick there. If not check close to the forewall towards the back of the engine.