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I was just stopped at a light in 2007 Taurus when I went to pull off it wouldn't drive so I put it in reverse and it I drove home in drive 1. Do I need a transmission? They say limp mode help

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Your transmission needs to be diagnosed by someone with experience and diagnostic tools. It may be something relatively uncomplicated and inexpensive, or it may require a rebuild or replacement. The limp in mode is purposely designed to keep you from doing more damage to the transmission, so 'limp' it to the shop if one is close.

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