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What does code P1780 Ford Transmission Control Switch (O/D Cancel) Circuit Out Of Self Test Range mean?

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The 4x4 low light button blinks when pushed and dash 4x4 light does not light up like the high does. The vehicle is also has a vibration-like it is not engaged right that you can feel under the vehicle. Does anyone have any ideas on what could be wrong?

Vehicle: 2004 Ford Explorer

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