had an f-150 that acted that way, it was because of the ck eng light. problem in the engine diagnostic system made the tranny not want to shift. Changed some sensors and fixed it right up. you need to see if you can get someone to run the diagnostic codes and clear the problem. tranny problem will likely go away.
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2003 ranger XL, reg cab, 2.3L, auto, 2wd. 115k miles
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