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There is no sensor for that issue, at least, you very likely have low transmission fluid and the system cannot build enough hydraulic pressure at idle to go into gear and even at rev it can get in but cant stay there. Have someone qualified check your fluid level and quality.
If it is low and has been low for very long (More than 2 or 3 weeks) it is possible or likely the transmission could have suffered internal damage. the fluid lubricates and cools the transmission. Low fluid means not enough lubrication, and running much hotter than desired. a 2000 model year supports manufacturer and generic OBD transmission codes. You should have it scan checked to see if it has any stored or pending slippage codes, replace the fluid to full level and see if any such codes set.
Any other transmission symptoms? A burnt smell where, from the trans fluid? If sure it is the trans, change the fluid, drive around a bit, then change it again with good quality fluid like Dexron III. If that does not fix it, then seek a qualified opinion from a trans mechanic.
It could also be an oil leak dripping on the exhaust, which is very smelly with just a drop or two.
Trouble Code: P0742
This should be looked at by a trusted transmission shop in your area to address this problem. This sometimes does require the replacement of the torque converter itself.
Torque Converter Clutch Circuit Stuck On (4T65-E)
TCC PWM solenoid valve for the fluid exhaust is restrictedTCC regulated apply valve is stuck in the TCC apply positionTCC control valve is stuck in the TCC apply positionTCC feed limit valve is stuck (i.e., the TCC feed limit pressure, and the TCC release pressure to be low or nonexistent)Pressure regulator valve is stuckTCC fluid circuits leaking or abnormally low/high line pressureTCC release switch circuit is shorted to groundTSB 00-07-30-007A contains a repair procedure for this code
Are there any check lights up on dash?If so have the car checked for fault codes by a garage or dealer able to read these and erase also.This could be caused by numerous issues,but I will cover some simple checks first. 1.a blocked fuel filter will cause the vehicle to loose power when under load;in gear. 2.a severely blocked air filter will do the same. 3.if transmission is faulty,usually the revs will climb readily but it will not dive well under load as it is slipping. 4.a blocked exhaust system,check by revving engine while someone checks at the tailpipe for exhaust blowing.If it has a flat muffled sound and very little output it may be blocked. 5.badly worn spark plugs,although they would usually cause a miss also. 6.contaminated fuel or fuel system,usually misses also.try a quality in tank fuel cleaner. 7.low fluid level in transmission.check the level as per manufacturer specs or in park,engine running. 8.air flow system,usually causes a check light on dash. 9.brakes dragging I hope this gives you some areas to check,or get back with more findings or detailed description.
CHECK TRANSMISSION FLUID COULD BE LOW OR YOU NEED A TRANSMISSION FLUID AND FILTER CHANGED.SOUND LIKE EITHER TRANSMISSION SLIPPING OR EMERGENCY BRAKE STILL APPLIED OR YOU HAVE RESTRICTED EXHAUST.DO CHECK ENGINE FLASHES.IF YES AUTO ZONE OR ANY AUTO PARTS STORE WILL CODE SCAN CAR FREE AND TELL YOU WHAT CODE CAUSING CHECK ENGINE LIGHT TO FLASH.
tons of possibilities from ECU to air sensors, exhaust sensors, fuel quality, spark plug/HT leads. Engine damage (get it compression tested), does it smoke from the exhaust? what color?. so many things. Is it an auto and the engine runs fine but no power at the wheels? change gearbox fluid to start with.