Hi,
For some reason, I'm not showing the Defender for 1996. However, the first thing I suggest is to check the transmission fluid level and condition. On this vehicle, this should be done when the engine is cold, the vehicle is on a level surface, the engine running, and the transmission in neutral.
Remove the dipstick for the transmission and confirm it is within the safe range. Also, note the color of the fluid. It should be a reddish-pink color. If it is brown or black, let me know.
If you look at the pic below, it shows the dipstick safe range.
Let me know what you find.
Take care,
Joe
See pic below.
Image (Click to make bigger)
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Saturday, April 24th, 2021 AT 10:01 PM