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Originally Posted by shorod
What year is your Taurus? If 1996 or newer, try to locate someone in your area with a high-end scan tool that can monitor the transmission control computer. The sensors you'll want to monitor are the Input Speed Sensor, Output Shaft Speed sensor, vehicle speed sensor, and possibly the TCC slip yes/no (if this is available on your car).
If the speed sensors all seem to respond appropriately, you may have a misfire. Or, you may be driving around with your air conditioning on and the impression of slip is caused by the increased load of your A/C compressor engaging.
-Rod
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It's a 2003 with 123k miles. I notice it mostly with the A/C on, but from time to time I notice something when the A/C not on, but it may also be just the way the car handles, since it's new to me I don't know all the bumps-and-shimmies yet.
Z.