2000 ford ranger rough shifts when warm

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Nov 8, 2016
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North Carolina, USA
I've had my ford ranger for 6 months now, and sometimes the transmission acts funny. Whenever it's warm it shifts rough, and sometimes I have to manually put it in second then back in drive. I checked the fluid which was red a little dirty, and it smelled fine. Anyone have ideas, the only thing I can maybe say is the speed sensor.
 
If it's the 5r55s/w transmission they do have known issues. How many miles on the transmission? What engine. I would a pan drop and filter change. Use only Mercon V that meets or exceeds the mercon specifications. (motorcraft). This would be the least expensive fix.
 
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