Transmission Shudder problems of the 2001 Ford Escape

2001 Ford Escape began having transmission shudder during shifting at approximately 20,000 miles. At 30,000 miles, dealer performed transmission fluid flush which resulted in the shudder going away. Recently the shudder has returned. The vehicle has approximately 56,000 miles. The transmission failed while traveling at highway speeds resulting in a sudden loss of power. The rpms suddenly jumped up to between 5000 and 6000. The vehicle is no longer driveable.

Purchased Escape new in 2001. In 2002, with 30,000 miles, transmission had a severe shudder, so I took into the dealer and was charges over $100 for a transmission flush. Shudder came back about 3 months later, went back to dealer and they said that another $100 transmission flush was needed. I did not agree and left. In June of 2004, without any warning, transmission started whinning and would not shift. I was driving in the city at slow speeds. Managed to get it home(20 miles in about an hour!) and parked it. After that, it would not move at all. Had it towed to transmission shop(dealer wanted $120 just to run a check on it) and they said it needed a new transmission at a cost of $2600. Did not have the money, so it has been parked now for almost six months. Transmission is the cd4e, a problem child for Ford. I contacted Ford and they acted as if they had never heard of such a problem, and said they could not help me. Now, still making payments on it and with only 84,000 miles on it, I have no recourse but to let it sit until I can save the money to have it fixed.

Transmission shudders and shakes when accelerating on highway, will not go into reverse when in four wheel drive half of the time. Ford service never finds anything wrong with it and says since there are no codes onto the computer it must be ok.