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Hi my name is ***** ***** I will be happy to assist with this today.In some cases I may need more info to assist better.I apologize for any delay.
This does sound like a fault related to a faulty TIPM or wiring leading to it.In most cases the TIPM develops an internal electrical fault with it needing replaced.This was a common issue.
I dont recommend driving it this way as driving it can lead to it failing further to where the engine may stall out and it may not restart.I would have it towed if you can for the repair facility to look into this.It can be driven but you would be taking a chance that it may fail completely leaving you stranded.
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The TIPM usually has to be programmed once it is replaced and has to be done by a dealer or repair facility that has access to programming unfortunately.The charge for this is usually about an hours charge or so.
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