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On the left side of the engine is the shift motor. It's a small electric motor that looks similar to the electric starter. With my Rubicon it got stuck and wouldn't shift, mind you it still had drive but was stuck in one gear. Did you notice any fault codes (blinking) on the gauge? Is there any difference if you change to ESP shifting?
 

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OK, good to know. I've heard of that issue as well. Turns out my Rubicon suffered from a Hondamatic failure before I owned it and I replaced the entire, costly assembly. The first couple of years (2001 +) had oil pumps that caused the failure. Hopefully yours will perform ok from now on!(y)
 
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