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Sounds like it maybe slipping, try checking the transmission fluid level and add as necessary to full mark of near full mark, which is in the operating range, could do what I did with my windstar minivan, add in the Lucas Transmission Fix, for your Ford Taurus you'll need Mercon ATF ( Automatic Transmission Fluid ) unless its a manual transmission or differently specified which then will need different fluid, check the owners manual, repair manual or phone Ford and ask them for transmission fluid type. Keep in mind that the wrong fluid type in transmission and or wrong amounts ( overfilled ) or ( underfilled ) can affect the transmission's proper operation.
Also check your coolant, when coolant level is low the light will come on the dash cluster and add as needed, Fords usually use the green coolant,green colored coolant or could use the universal type coolant. Check the owners manual, look in a repair manual or ask Ford technician for the coolant type.
Have a look at the automatic transmission fluid. Under the hood should be 2 long dipsticks, usually they have a colored plastic handle so you can see them more easily. You will need to identify them, perhaps ask a friend for help. One dipstick is for motor oil, the other for automatic transmission fluid. The automatic transmission fluid should be redish in color, that is a dye put in the fluid so you know it is not motor oil. Check that fluid, your owner's manual in the glove box will tell you whether to warm the eingine up first before you check it. If the fluid is low, add some with a long funnel, only add a pint at a time, and check it about 5 minutes after you add it. Repeat this until it shows full. Car parts stores sell quarts of automatic transmission fluid. If you pull the dipstick from the transmission and it is not low, and the fluid is clean (not black coloured), you may either have a transmission that has failed, or your brakes may be sticking ( like the emergency brake is on). Be blessed
Add transmission fluid to the same tube you check the transmission fluid level. It will resemble the oil dipstick tube, only it's a larger tube that will accommodate a funnel to add additional fluid. It's important not to overfill the recommended level so try adding 1/2 quart at a time until the level is withing the markings on the transmission fluid dipstick.
The Transmission fluid stick is located toward the back of the engine on the drivers side. Check on a level surface when the engine is hot and the vehicle is in "Park". Don't add fluid if within the crosshatch marks. Be sure to use the correct fluid if adding. Check your owner's manual for the correct Mercon fluid. My 2001 taurus with the 3.0 engine uses Mercon V (Mercon 5) only.
The Brake fluid can be visually checked. The master cylinder reservoir is also located on toward the back of the engine on the driver's side
You fill your transmission fluid through the dipstick tube. Be sure to check the existing transmission fluid while the vehicle is running in park after it has reached its peak operating temperature. You will notice two marks on the dipstick the bottom is a cold mark and the upper is a hot mark. If you need to add fluid be sure to use dexron mercon 3 atf and add the fluid in small increments to avoid overfilling and damaging transmission. When adding fluid add 1/4 of a quart at a time with your parking brake on and foot on the brake shift it through all ranges 2 or 3 times and check fluid again and add more fluid and repeat this step until full
If you have your owners manual, there is a section containing the capacities for all fluids. You may also simply check your fluid level, with a running motor and warm transmission. If the stick indicates add, start with a 1/4 quart and work your way up. Unless there is a problem with the trans, there is no real reason to ever add fluid unless your are flushing the transmission.
You can do it at either time. It is recommended that you check the transmission fluid while it is hot. If you are adding a large amount then you will want to add some then drive around the block to make sure it is back up to temp before checking. But usually you will not be adding enough to cause any issue with checking the level after topping off.
YOU will need to remove transmission pan remove bolta around pan letting one side drop down to drain replace filter inside reinsatall pan add fluid thru dipstick tube. put about 4-5 qts in first crank up run thru the gears and check fluid while running. keep adding a little at a time until trans is warm and at full mark