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It can be issue with gears or problem with transmission and needs to be rebuilt. Also get the tranny fluid checked. If it\'s low, then such problems occurs.
To troubleshoot these types of issues, check the actual solved problems with these types of issues.
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2003 Lexus RX300: Transmission Fluid Burnt Brown and not Shift to reverse?
Repair the shift lock mechanizm (either the linkage or an electrical issue) or to get by, use the shift lock release which is typically a small hole next to the shifter that may or may not be marked as the shift lock release. Place a key or the like into the hole to release the shifter from park.
you should look at the gearbox you will find on the sides of the box 2 nuts apox 17mm with 10mm nuts in side these are your auto tenchioners also nown as bands they might need winding in a little bit also check the oil level ok
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