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Trans problems on 2005 Cadillac Escalade ESV

Took off from a stop sign felt like it shifted to neutral. Had to manually shift to get it home and at every stop have to start in first. Any ideas?

Something in the linkage may have loosened and now the gear position has changed due to this shift. Check transmission fluid level as well.
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Something in the linkage may have loosened and now the gear position has changed due to this shift. Check transmission fluid level as well.