92 ford explorer wont upshift until rpm is up to 4 it makes a whining/whistling sound until it shifts replaced oil filter and oil tranny fluid and filter spark plugs checked timing replaced speed sensor. Also feels like it has no power espicially when taking off after stopping someone said cars in limp mode whats that and could it be the problem it dosent slip or smell burnt if in cruise control it shifts better

You might try a new crankshaft sensor. They are about $20.00 there is no way to test these. It is inthe passenger side of the vehicle. 2 bolts and a connector plugs into it. Linkage could need adjusted on transmission, could also be a vacume going to the transmission. All of this is ran by sensors. The transmission sends a message the computer how much rpms are needed to pull out from a complete stop. And how much is needed to pick up speed while passing. If air idle control valve or throttle position sensor is bad, it could affect the shifting. I pulled the crankshaft connector plug in off of the crankshaft sensor and I had my power back. You might try this together your power back and leave it off if it restores your power. However, it will use more gas. However, its a temporary fix and only shows there is something else wrong. Maybe a short or timing issues.