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I would start with getting the vehicle scanned for trouble codes. You may have a bad TCM(trans control module) If there are several codes that is a good sign it is failing. Get the codes and we can go from there.
I did take it to Precision Auto & Transmission and their diagnosis was:
Transmission check out only 1st and 2nd gear diagnose transmission, no shift issue and found internal speedometer gear. I still don't understand what this means, because were very vague so that I would leave it there.
I will do that, thanks.