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Q: 2005 FORD TAURUS,automatic transmission, drives in 1st and reverse only,no 2-4th on 2005 Ford Taurus

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Started on way to work, first time, on the merge onto the highway, car would not shift out of 1st, felt as if "slipped" out of gear and rev'd when gas was applied, lower the RPM and it would engage 1st, the car will not make the drive to AutoZ for a code check, any ideas? Sensors, fluid and filter or tranny "notorious for tranny failure"? Thanks very much for any input.
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