Automatic transmition not shifting well on hill on 1994 Toyota Previa

Please can anyone help with a solution to our previa, it use to be very slow on hill because the automatic transmition does not shift the way it should, then the speed will be going very low, and when we scan it gives 42 and 21 from the counting of flashing of check light then i clean and adjust the throttle sensor still the same, please any answer/solution will be appriciated. Thanks.

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