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there is an idea that when it runs good in reverse but not in forward gears , there is a problem in bad engine mounts that is allowing the wiring to make a bad circuit for the electronics
could be a loose /bad connection for the cam/ crank sensors, injector operation or ignition control module
in forward gear , the engine reacts to the torque application and that would pull on the harness
when in reverse the reaction is opposite and not affect the wires
on the engine u have a gear solector that transfers the movment of the control box gear cable to the other cable that goes down to the gear box. If u disconect the gear cable that runs to the control box and try to engage fowerd or reverse gear if the cable still does not move the it is the control box but it sounds like the cable is frozzen up so if u disconect the cable at the control box end and see if the cable is free thanks jake
Have had the transmission serviced lately, fluid and filter? Most auto manufacturers recommend changing the fluid and filter every 30,000 miles. I guess I would start with that, don't rev the engine while your waiting for it to go into gear. There is a good chance that the reverse clutch is partially engaged and if you rev the engine to try to make it go, you will burn that clutch up for sure. Also, park the car in such a manner that you don't need to use reverse, right away in the morning.
DO A LITTLE TUNE UP.CHANGE SPARK PLUGS.CHANGE FUEL FILTER.CLEAN FUEL INJECTORS.FILL FUEL TANK UP.AND ADD A BOTTLE OF FUEL INJECTOR CLEANER IN FUEL TANK.WHEN YOU DRIVE CAR AROUND.THE INJECTOR CLEANER WILL CLEAN OUT FUEL INJECTORS.IF CAR STILL RUN ROUGH IN DRIVE.YOU COULD HAVE INTAKE LEAK.