My 2007 explorer goes into reverse hard when it warms up

[mrfranco]

My 2007 explorer goes into reverse hard when it warms up .The forward gears don't do it and the rest of the tranny seems fine. It is a 4x4 ...4.0 lt with about 150000km .
Does anyone know what causes this or how to fix it?
Thanks

 

[dereku]

My 4.0 does it as well. I am currently replacing my trans speed sensors due to a fault code so i am hoping that helps.

 

[mrfranco]

I took my explorer to a tranny shop and they found no codes or anything wrong.They said to drive it and if it gets worse to bring it back.
I am thinking the problem could be the rear diff as it may be worm more in the direction into reverse .The rear diff had metal fillings and a little more slap than usual but no winning when driven.
Any feedback is welcome.