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Hook it to a good scanner and get the codes out. That is usually a shift plate issue. The codes will narrow it down.
 

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Some times the gem gets an incorrect signal from the position sensor contacts and stays screwed up. It may work to disconnect the battery for 5 minutes to reset everything. If that fixes it, the shift motor may need a good cleaning of the brushes/commutator. I've had to do that with my explorer.
 
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