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I had the same problem on my '91 Camry. When I first got the car it had 79,000 miles on it. The transmission fluid was black as coal. So I changed the fluid via the drain plug and drove the car a few hundred miles then drained and refilled again, I did this several times until the fluid was red. Then I dropped the pan and replaced the filter and put fresh fluid in. It was fine for one year and then I lost reverse. I also lost all coast, no engine braking. I had to have the transmission rebuilt and now it is 3 1/2 years later and no problems..
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