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what is making my 2006 expedition transmission to shift hard at about 40 mph on 2006 Ford Expedition

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
it acts like it doesnt know what gear it wants to be in
(1) Answer
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How long since it has been serviced, take it someplace like AAmco for a free estimate.
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