Sounds like an internal trans problem,but first,all of the external diagnostic checks need to be performed.Check fluid level,scan for diagnostic trouble codes,look at clutch volume indexes in the data stream,and also look at the input and output speed sensors to make sure they are functioning,as well as the command gear from the computer,and the PRNDL switch.The big tip thats an internal problem is the Reverse problem.Reverse is purely mechanical and hydraulic controls.Electronic malfunctions usually don't affect Reverse gear.
Need check the linkage, set it right first, otherwise probably you need re-build your trans.
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1998 dodge sport stuck in drive will shift from d 2 1 but will not go up n r p
Same Intrepid, ,my daughter was driving in a 35mph zone and the car started "bogging down" after pulling over she had no reverse the engine was hot put near red res just enough to wet the recovery tank and nearby wires The fluid is pink, not a bit of burnt smell/ the original post is exactly our symptoms
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