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Did you check the trans fluid level? Is the fluid burnt. Any warning lights on?
Did the fluid have a burnt smell to it? When you engage reverse when it's cold will that click in faster than what it does in drive and does it slip fairly well at that point also?
Just to clarify you're saying if you have it in reverse the vehicle still moves forward and also a neutral it moves forward instead of sitting still?
That is what I was afraid of. This is an internal failure in the transmission typically a planetary has come apart and has locked the transmission into the gear. It will need to be replaced at this point or overhauled.
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Sometimes if you remove both battery and put a jumper wire across the two cable isolated for the battery for 5 min. then reinstall it will do a hard reset and may take it out of limp mode. But I wouldn't trust driving the vehicle like this with the transmission doing what it's doing.
Yes that is correct. This will reset all of the computers to based learning mode. It will not fix the mechanical issue you're having in the transmission. If the torque converter inside the transmission is not working correctly it will give you the sensation that you're in limp mode or no power from the vehicle.