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Sounds like the transmission is shifting into both reverse and a forward gear at the same time. Time for a tranny overhaul. But first check the transmission fluid level.
Jeep has always had a problem down the line with the shifter linkage usuallly under the shifter, you have to take apart the console or column and locate whats broken inside there. I've had this issue myself with Cherokees too .
A delay of more than a second in shifting from
the neutral to drive or reverse gear, could mean that there is a problem
with the transmission. If on changing from a neutral or park position
to the drive or reverse gear, the car does not immediately catch the
gear and move forward or backward, then it could mean a problem in the
transmission. If you change gears, and you hear a sudden clunk or sudden
jolt or shudder, then the shifting is not smooth and there could be a
problem with the gearbox. If the engine rpm keeps increasing but there
is no increase in the speed, then it could be a sign of the transmission
slipping.Most automatic transmission systems, nowadays, have a check
engine light or an OD light, which flashes if there is a problem with
the engine.
A new and significant jump or jolt upon engaging the trans could mean you have a broken front engine mount. Your car has a transverse mounted engine with a big mount holding it at the front of the car. It this mount goes bad the engine can "twist" under the hood. This sudden twisting or torque reaction can be felt until the engine runs into something solid *(usually whats left of the engine mount).
Don't wait on this one....see a mechanic A.S.A.P. A damaged mount is only going to do more damage as the engine twists back and forth under the hood. Stressing out the other connections to the engine, i.e., electrical, fuel, exhaust. Leading to more damage.
You could have some play in your motor mounts. They are made of rubber and being your over 10 years old the rubber probably has shrank and is allowing the engine to shift a bit. My 2001 is doing the same.
I had someone shift it from park to drive and back to park while I watched the engine running with the hood up.
I am trying to understand your problem. Check engine mounts. Have a driver in the car, hood open. Start car, foot on brakes, shift from park to reverse and back again. Shift through all gears, look for unusual engine movements around engine mounts area. Left foot on brakes, press gas in drive and reverse;watch for excessive engine movements. Be careful as you perform these steps. You may also want to check drive axles. Keep me updated.
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