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The auto transmission in my 2014 Ford Focus seems a bit jerky when changing between gears. Sometimes it seems unsure of what gear it should be in. I have asked my local Ford dealer who seems to say that it's ok?
The Focus uses a dual-clutch transmission, which is really a manual transmission with an automated shift mechanism. They have two clutches that both come into play when shifting from one gear to another. Ford has had trouble with some vehicles fitted with the DPS6 transmission built from April 12, 2011 to August 23, 2013. Check the build date on yours to see if it falls within those dates. Even if it doesn't I would be monitoring the transmission operation very carefully, and I wouldn't hesitate to take it back to the dealer if you believe it isn't functioning correctly. What you report is typical of a problem Focus transmission.
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