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Un bolt master cylinder and pull forward and to side without disconnecting any lines. Get up under dash and disconnect linkage to front of booster pushrod (This can be tricky and hard on the neck and headbone). Remove vacuum check valve from booster, remove 4 nuts holding booster in place and remove unit. Installation is reverse steps.
May be some shift solenoids issue. Do you have a service engine light on? If so that will tell what solenoids may be faulty. The shift solenoids are inside the transmission pan and bolted to the bottom of the valve body.
i had to put a new trans in my 2000 jimmy about a year ago there is something inside called a "reverse hub" its made from aluminum and not very hard to break..when mine broke i was stuck trying to move in reverse and it heard a pop then a winding down noise and sure enough its the reverse hub to fix it i just had the trans rebuilt