I bought an 01 rubicon that doesn't drive to replace the 1986 4x4 I bought new and have no problems. Didn't know these were so complicated. Anyway I looked it over sounds like it goes in two gears, paid the guy brought it home. Messed around it will drive in esp 3,4,5 1,2,R start to go but it is like an engine brake goes on. D1 and D2 are like a brake is on. Rolls back and forth perfect in N. Took off the shift motor and rocked that gear back and forth just a little, turns real easy. I got a code 5 after that for what its worth.