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Q: My car quit driving it won't go in any gear rpm reevs up what causes this? on 2004 Ford Taurus

I drive a 04 ford taurus and it quit driving felt like it bogged down and Rpm reeved up pulled to the side of the road put it in park and tried drive again Rpm just reeved up won't go in reverse or overdrive or 1 but it always smells hot after driving? will start just fine and it's never done this before never made weird noises or anything I just need help
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thanks for your help and there is transmission fluid in it, but it was checked when it was off I don't know if that has anything to do with it I've heard that It has to running and warm.
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