Q: Why is my automatic transmission piping out of gear?

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Shifting from park to drive takes a minute to kick into gear, driving around the road it will pop out of gear and into neutral. In order to get it back into gear I have to shift from park back into drive and revthe engine to a high rpm. This issue also accures while shifting from park to reverse.

My car has 200000 miles.
My car has an automatic transmission.

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