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What's causing my 2017 Ford Ranger to vibrate?

I have a 2017 Ford Ranger XLT 3.2 with about 5660 km on the clock and having lots of issues with what I think is the transmission.

I am not a mechanic, but have driven 4x4 diesel autos for 30 years so know how they are supposed to work. My Ranger slides into gear with a slight vibration through floor.

I recently towed my 2 1/2 ton caravan with it; under load it is a lot rougher take your foot off the power after climbing a hill car is reluctant to change up to higher gear. Any ideas?

It does sound, from your description, to be the automatic transmission. Certainly take it back to the dealer; a new vehicle shouldn’t be doing that. If you want another opinion take it to a certified specialist.