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This is an automatic? If so, a failed 1/2 shift solenoid in the transmission is a possibility. However there should be a trouble code stored in the car's ECU.
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The problem is a gear internal failure the gear who drive the speed sensor is defect the is why you don't have speed sensor reading. There is a way you can verify that remove the speed sensor drive it with a drill check the dashboard you will see.
Acutally there is 3 position settings for the transmission selector, the power setting which changes the shift points higher ,more rpm's, center position basic auto selection the transmission selects the best driving gears based on your habits, and the comfort mode which shifts the transmission easily and smoothly, no high rev shifts, best for good fuel mileage, but if you need to get on it it will go.
first check transfluid for level,color,smell&metal shavings if its dark in color and smells burnt. look to change the trans. or if metal shavings also look to change trans if color is clear red flush trans then pull trans pan change filter refill with now toyota type trans fluid.
contact your local parts retailer for the right auto oil. as for not going int gears you may have to adjust the the inhibitor switch on the auto if the switch is not in the right spot you wont get the gear you want. for more info on the procedure let me no and ill see if i can sort it out for you it may be easier to contact a dealer and get them to photo copy the procedure out of the work shop manual
I was an ASE master auto tech for 13yrs and have seen this problem before. It sounds like the idle air control valve on the intake manifold has stopped working and the idle speed is not being controlled(letting the engine idle too slow which causes a stall when put under a load such as putting it in gear). Try giving it a little throttle while putting it in gear if that works let off the throttle if it dies you will know the Idle Air controll is not working.
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