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If you move it directly into 2nd instead of Drive, does it still take a minute to go into gear? If not, it could be a simple adjustment on the linkage and that it just needs to go a hair farther into the drive position.
Otherwise, when was the last time the tranny was serviced? filter? fluid flush?
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.