I know with GM transmissions a clogged torque converter and/or filter can cause things like that. My monte carlo would stick in first and 2nd gear at the same time when it got hot, (which means the wheels lock violently) cause the TC was clogged up. That usually happens from forgetting filter/fluid changes. It also made the car start in 2nd gear or not shift into 3rd sometimesk,and made the shifts really mushy. And OD never worked anyway. I changed the TC and filter and rebuilt the valve body anyway and it shifted like a manual power shifting, chirped 2nd and all. I have no idea if this applies to toyota trannies, but im sure there operation is somewhat the same.
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Yay the supra assistant is gone!!! WEEE!!
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