2000 Ford Taurus Questions

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car had been running fine. Went to town earlier no problems. Went out a couple hours later to return to town and was backing out of drive. backed up a couple feet and then just stopped moving. No reverse or forward.
It makes a loud noise, it comes from the back side of the car, left hand side. Its everytime I go over a bump. It sounds like if I had something heavy in the trunk.
Replaced cv axle after putting it back together the motor revs and it did not engage when put in gear.
I dropped pan and there is no shavings in transmission fluid or pan
was told have to take to a ford dealership for them to hook up to computer and enter code. what does this cost?
My Oil Light comes on when I brake or when in slow stop and go traffic. It goes off when I accelerate at speeds above 30mph. I have taken car to Ford Service several times, however, they cannot diagnose the problem ...
as wheels turn the noise continues. Could this be a ball joint problem?
is a duratec 24 v v6 in a 2000 taurus wagon. am original owner.much spent maintaining.pcm just replaced..it died. now engine runs incredible but rpm at 75 seems waaay to high.i am seriously worried