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Every once in a while I post this problem in hopes of finding a solution, here it is:
I have a 96 4.0L that has a delayed reverse engagement. When it hasn't been driven forward since starting the engine, reverse takes about 30-60 seconds to enage. Sometimes it engages fine. Sometimes with a hard bang or a shudder that triggers the O/D light to flash. If I shut the engine off and try it again I can usually get it into reverse fine. If I have been driving forward, then going into reverse is, but slightly delayed.
I'm stationed overseas and I have no access to a scanner to pull the trans codes. I've been told to replace the entire valve body ($613 ouch!). I've also been told to replace the reverse boost valve.
when i had that situation, it was because of low auto tranny fluid.i dropped the pan and changed fluid and filter and had not put enough back in. finally got enough in and it shifted fine.i did finally get the tranny rebuilt though, but that was because it would not go into overdrive. that cost me $1500 or so. so $600 doesn't sound to bad if you have to go that route.
how many miles on the tranny? changed fluid or filter? i have heard that it could be the valve body in the tranny not working.but i don't know that much about the innards of the transmission. a friend of mine had his tranny reverse flushed and got by for several more years, although it is not recommended for trannys over 100 thou miles i was told.. just my 2 cents worth, rick