i have a 2001 dodge ram 2500 4x4 with the 5.9 liter v8 magnum it drives sound in all forward gears no slipping or anything but i have no reverse, the reverse lights work you can actually feel it ingage when put into reverse but it doesnt go when hitting the gas it just sitts like its in park or nutral
you could use a floorjack with woodblock to see if the transmission mounts are still okay~ https://www.google.com/#q=2001+Dodge+Ram+Pickup+2500+transmission +mounts&tbm=shop
I have one like that too. Found that the reverse servo arm that has an adjustment nut, snapped off. This has apparently been a problem for some 40 years, since the 70's. You must let it warm up and let the ldle come down before putting it in Reverse.
I have a 2001 ram lost reverse. dropped pan and found reverse servo had cracked this does not allow it to make enough pressure. Easy fix Drop valve body loosen adjustment bolt .move arm away, remove cleap and valve well come out. crack runs threw it found one from summit 50$ Fixed problem in 4 hrs. still driving it 2 years later this is a common problem from 1994 on.
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