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I have done a lot of research on this topic and found some helpful hints on this site. My 2005 F-150, 5.4L truck was slipping in OD (or it appeared to be). Take it out of overdrive, worked fine. Went up and down gears fine. Problem was between 40-50ish MPH. Through my research, most common problem noted was a bad coil causing a misfire and making it seem the transmission was slipping or jerking in OD. Took it in with my research and sure enough, had a bad coil. Had the plugs changed while in there (original at 105,000 miles) as well as cleaning out the throttle body. Runs great...problem gone. So I wanted to pass this along for all the other people that experience this problem. Have your shop check the coils...first.
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I have a '08 5.4. Moving continuously at approximately 25 mph mine would rev up and shift while in OD. A hard shift. I took it to Ford 3 times, 3 different ones, had techs drive it and test it. They recreated the shift and all said nothing was wrong with it, it is just the way that years transmission is programmed and that is "learns" the drivers driving style. It would never do it out of OD. I've dealt with it, switching from OD to D when I am in the city versus Highway and it doesn't seem to bother me anymore, guess I learned to live with it. BUT now I just hit 90,000 miles and occasionally when I back the truck out of my garage or a parking space and then shift to D, truck acts like it is in Neutral. I shift it to 2, then back to D and it works fine. Any ideas? Is there an linkage issue here, bushings need to be replaced in the linkage maybe? It hit or miss but mostly only after shifting from Reverse.