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Ford Ranger: Clunky transmission

I have a PX Ford Ranger Mark 2 XLT auto that is almost out of warranty. Sometimes it doesn’t select Drive or Reverse, and when finally it does it makes a loud CLUNK. I took it to my local dealer this time last year and they reset all the computers, but it has just started happening again, and I am taking it in next week for a warranty check.

How do I go about any future problems after the warranty period expires if they can't fix the issue?

Before you worry about what might happen in the future the problem needs to be fixed now. I suspect the problem is not the computer, but within the transmission. Have an auto transmission mechanic check it.