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I have an 05 6.0 srw crew cab and mine does the same thing. I changed the fluid and ext filter at 30,000 miles and it now has 34,000 and is still doing it. The truck shifts great driving but going from Park to R, or R to D it takes a too long to engage and I feel a small shimmy until it engages. I used mercon sp and racor filter and fluid level is correct. I heard it was a pressure regulator? Supposedly its a cheap part and only involves pulling the pan to change. Anybody know anything about whats going on?
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2000 F-250 4x4 ext. cab- 207,000 mi- 35x12.50 hankook m/t, 18x9 black xd spy's, leveled with 2 inch add-a-leaf, 4 inch turbo back exhaust STRAIGHT PIPED, Hypertech Powerprogrammer III  , 5.6k mod, A.I.H. Delete, IC foil delete, DIY tymar intake, Ranch Hand front bumper, black TSC toolbox, gooseneck hitch, 2 130 watt Pro-Comp spotlights, Prodigy brake controller, smoked '08 taillights 3rd brake lights and cab lights, '02 headlights,... TOTALED!!! 
New Truck:
2005 F-350 Lariat 4x4 crew cab swb- 93,000 mi- AFE stage 2 intake, Diamond Eye 5" exhaust, '08 taillights
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