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Shifting from park to R or D

TCB

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I have a 24 with the v6 purchased in March. One thing I've noticed, doesn't happen all of the time, but when shifting from park into R or D the truck lunges and I need to be heavy on the brake. More often going from park to reverse vs going from park to drive. It doesn't seem normal.... Anyone experiencing this?
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1996-to-2025

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Troy
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1996 Ford Ranger 4x4 SuperCab XLT 4.0 and 2025 Ford Ranger 4x4 SuperCrew XLT 2.7
Are you letting the idle settle down before shifting? My 2.7 idles at a high RPM for 20-30 seconds. I don't shift from park until the RPMs have dropped. If I shift right away after starting, I will get some transmission jerk because the RPMs are still high.
 
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Nate
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This has happened to me in my 25 XLT. Albeit not as noticeable as you mentioned since I have probably gotten used to it by now. It’s probably because of what another commenter said - due to it still being in high idle after startup. Once it’s been running awhile for me, it doesn’t do this really at all.
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