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I just replace the abs speed sensor on my 2000 Ford range for the same problem. It's located on the rear differial axle on top. cost approx. $23.00 for the sensor. 10 minutes to replace with the approiate socket. Nothing special.

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Q: Where is the speed sensor on a 2000 Ford Ranger and could it cause the ABS and Check Engine lights to come on and make it shift hard?
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