1990 Toyota 4Runner Code51

1990 TOYOTA 4RUNNER
178,528 MILES • 3.0L • V6 • 4WD • AUTOMATIC
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4RUNNER4X4
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I got a code 51 on my CEL. How do I fix that problem? Also my Trans work in park-reverse-neutral but when I put it in drive-2-Low my Trans feels like it's slipping plus my Trans shifter is loose.

I also replaced the TSP. The oil is fine with no leaks and doesn't smell burnt.
May 28, 2014 at 4:53 PM
Repair Safety Notice: This information is for general instructional purposes only. Vehicle repair can be dangerous. Verify all information, follow manufacturer service procedures, use proper tools and safety equipment, and consult a qualified repair shop when needed.
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