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It sounds like the 99 Grand Prix has slippage in the reverse band, or a stopped fluid path. Changing the Transmission Fluid and filter could help, if not then the transmission needs to be checked by a transmission since the band is inside of it.

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Q: When you put your 99' Grand Prix in reverse it mildy shakes and there is a strong burning fluid smell coming from the driver side it only has problems in reverse any ideas?
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