it sounds like the tranny reverse is gone and you have to replace the entire tranny
If its automatic your transmission probably slipped,if it standard your gear is probably warn out and it cant grab it.
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speed sensor is out or is going out. your speedometer is out too right?
The map sensor for the 1991 Acura Legend is mounted on the firewall. It is in a box near the factory strut brace.
Remove the retaining ring at the top of your 1991 Acura Legend ignition switch. The ignition switch cylinder will slide out. Remove the wiring harness from the end of the ignition cylinder. Reverse the process to install your new ignition switch cylinder.
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sounds like your ball bearings are going bad
http://wiki.answers.com/Q/Where_are_the_fuses_for_the_1992_acura_legend_driver_and_rear_windows lokethed an the 1991 acura legend
5x114.3 h