Transmissions have a series of clutch plates, friction plates,bands,gears and solenoids located inside the transmission. As the vehicle moves forward, these plates operate similar to a clutch on a manual transmission, but using fluid pressure and momentum to do so. Usually these go bad due to lack of proper service intervals. If the fluid is not changed at recommended intervals, it breaks down, similar to engine oil,and causes the transmission to get hot and burn up these clutch plates and bands. Therefore you will get certain gears that will fail to engage. In your case, the reverse.
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