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Firstly, like any other car, confirm that the idle speed is reasonable. Then, check engine and transmission mounts as you would on any car. Then, this being a taurus, check the cradle (subframe) mounts. The cradle mounts on these cars tend to go bad very frequently and cause a strong thump going into drive or reverse depending on which mount(s) are bad.

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Q: When putting car in gear it's hard shift?
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