One problem related to transmission slip out of gear has been reported for the 1996 Ford Taurus. The most recently reported issues are listed below.
Transmission will slip out of gear while driving and right before the car comes to a complete stop, the tranny bucks. I was told by two transmission shops that the transmission has a faulty forward piston and needs to be rebuilt at a cost of $1800. 00 dollars. The car has only 71k miles. After reading all these horror stories, I think Ford should do the right thing and issue a recall!!.