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My daughters car (2003 TL) shifts fine but there is no tension on the shifter. That is it doesn't lock into any gear. This makes it hard to get into gear.
May have broken control shaft spring or damaged detent arm inside the transmission, Not something that can be fixed with the trans in the car.
If it was recently rebuilt take it back.
This is the mechanism that creates the feel on the shifter.
Same prob with my 2000 TL. Replaced shifter and no change. No detent when moving shifter. Will try to locate where this torque convertor is accessible from and see if I can repair