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What causes the transmission to go into limp mode? on 2001 Suzuki Grand Vitara

Where are the eletrical sensors for the transmission located?

SCAN CODES AND POST OR SEEK A FREE DIAG THRU AAMCO AND POST FINDINGS
Obd2 codes are P0153, P0430 & P0001.
I'm not sure if it makes any difference but the vehicle is not a. 2001grand vitara, it is actually a 2001 xl7, when I went to post there was no selection for the xl7.
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1 more answer
Any "fault" will cause the trans to go into limp mode. Recommend a qualified shop check that out so you do not waste $$$ guessing.