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From what your saying it starts to over heat at stops, check your radiator cooling fan, sounds like it's not working, could be a fuse or the fan motor it's self.
The flashing yellow exclamation light on a 2001 ford taurus is the "check transaxle light," and it's to alert you that your transmission has issues that need to be addressed asap. From my vast and past experience, if the issue is serious, the transaxle (transmission) is probably going to lock into second gear at some point for safety purposes. As fate would have it, there is no real middle ground for repair of these problems. When transaxle issues occur on these vehicles, 99% of all remedies from dealers or tranny shops would require removal of the transaxle to perform the repair. That process (dismembering front end components, supporting engine, etc.) is very expensive. Having gone that far, most fixers would (rightly) recommend a rebuild kit and replacement of "hard parts" while the tranny's on the work bench anyway. Good luck!!
I am having the same problem right now....seems there is a transmission control module which might be the cause. Mine is off and on, sometimes car shifts great, other times it stays in second and will shift to third.
this is caused by a piston in the transmission that has a crack in it once it warms up the crack seals and operates normally.being cold the crack opens up allowing fluid to flow past it. take to trans shop as soon as you can, will be minimum repair if it has not caused further damage in the transmission.
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