Possible broken engine mounts . In neutral there is no torque forces the engine to tilt. In reverse or drive your engine foced to tilt backward and forward.
It could if it cracked air can go to the exhaust system before O2 sensor and engine gets fails info trough the sensors.
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my mounts are new im wondering if its possible that the intake manifold gasket can cause this problem also
It could if it cracked air can go to the exhaust system before O2 sensor and engine gets fails info trough the sensors.