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I have approx 24,000 miles on my van. The transmission will lag in shifting and sometimes
when put in reverse it doesn't engage ,it will roll like it's in neutral. This problem comes and
goes. I scanned the computer and the only code I get is P0158. Any guesses?

Vehicle: 2007 Ford Freestar

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The P0158 code it's more than likely not related to the transmission problems. For the transmission problem you should start by checking the transmission fluid level and condition. Replaced the fluid if necessary.

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