my transmission had the same symptoms... i changed the fluid and filter and drove like that for a year and half before the forward clutch burnt up.
How is it doing these days?
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02 f250, 7.3,4r100 rebuilt at 140k with shift kit and triple disc. Dana 60, 2.5" zone leveling kit, 16x10s, 315/75r/16
Autoenginuity in the Lafayette,La area 
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