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Ford Explorer Community - Maintenance - Modifications - Performance Upgrades - Problem Solving - Off-Road - Street
Explorer Forum Covers the Explorer ST, Explorer Sport, Explorer Sport Trac, Lincoln Aviator, Mercury Mountaineer, Mazda Navajo, Ford Ranger, Mazda Pickups, and the Ford Aerostar
Not to be overly simplistic but make sure fluid level is up....lower level will cause this symptom -- could have minor leak at pan. Also, I rarely recommend snake oil in a can....but "Lucas Transmission Fix" will likely temporarily alleviate symptoms and buy you some time if short on cash for repair / rebuild. Had same symptoms on old Aerostar and put bottle in and ran smooth afterwards for months and months until returned van to service company -- didn't hear of rebuild even after that.
Most issues of an automatic come from the VB, solenoids, or accumulators/springs messing up. Replacing those and a VB kit usually solve most issues, besides fresh full fluid and filter.