This is a internal problem, I had same thing wrong and I replaced all I could then brought it to shop and he said the bands are slipping
the forward gear clutch pack is worn out. the only solution is to get the transmission rebult.
The reverse lights on a 94' Ford Taurus are linked to the transmission to indicate when the vehicle is moving backwards. This is done for safety reasons as cars are typically moving forward.
Motorcraft MERCON - V automatic transmission fluid for the automatic transaxles
The 2003 Ford Taurus has a 4-speed automatic.
The 2005 Ford Taurus has a 4-speed automatic.
The 2008 Ford Taurus has a 6-speed automatic.
The 2007 Ford Taurus has a 4-speed automatic.
The 2001 Ford Taurus has a 4-speed automatic.
The 2006 Ford Taurus has a 4-speed automatic.
The 2011 Ford Taurus has a 6-speed automatic.
The 2010 Ford Taurus has a 6-speed automatic.
The 2009 Ford Taurus has a 6-speed automatic.