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Toyota Lucida Estima?

I have a Gearbox fault on my 1992 Lucida Estima 2.2 TD Auto.
It will go up through the gears if you keep pressure on the throttle pedal, but as soon as I back off even a little to cruise, it will drop down to second gear and rev it's nits off ??? Any ideas??
Peter Sergeant, April 2007
cambelt diagram for 2.2 TD

PDC MOTORING CENTRE, April 2007
link Click here to see other fixes for Toyota Estima.