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Girlfriend has a 2007 Escape with about 60,000 miles on it. Won't go into reverse when the tranny is warm (after it's been driven), works fine when it's cold. Scanner says it recognizes it's in reverse when it won't move. Absolutely no problems going forward. Any ideas other than the whole transmission is junk.
Check the fluid level when it is up to temperature and won't provide reverse. The internal and external shift linkages could be damaged or out of adjustment. The internal shift linkage could be disconnected. Reverse clutch assembly and low/reverse clutch assembly could be damaged leading to low line pressure.
If this occurred over time, it points to slow pressure loss or friction/steel damage in the clutches. If this occurred quickly, it is not as likely to be something as significant as the clutches, and is more likely control valves and linkage. There is a large list of possible suspects in the shop manual, and I can't type them all.
Needless to say, I'd call a transmission specialist who may know the cause that applies in a majority of cases, and be able to diagnose the problem almost w/o looking at the vehicle.
tom