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2002 Ford Explorer 4.0L, the overdrive light on the dash has started flashing and transmission is shifting hard.

Vehicle: 2002 Ford Explorer 4.0L

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If the transmission is shifting hard and grinder gear it will most likely be bad, you can drain/drop the tranmission pan and if there are metal pieces and shaving the tranmission will have to be replaced.

you will have to flush the transmission lines so the metals pieces or shaving does go in the  the used transmission or rebuilding it (a used transmission is many cases in a lot cheaper and better than rebuilding it)
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