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UPDATE AUG 2020 - from my friend Dave - Be sure to remove & clean TCM - transmission control module! Save $800 more! This fix lasted 2 years & 20k miles & a few drops of water on top of this module corroded electrical connections in the module & vehicle didn't know what gear it was in & would not start. Purchased rebuilt TCM from place in Florida & problem solved. Should have cleaned it when I flushed the fluid. He also mentioned too there was no way to flush torque convertor that he knew of. So he wonders if there might still be water in the torque convertor. Made a mistake it was not a 2002 it was a 2007 Telling how my friend Dave fixed his 2007 Pathfinder transmission that had coolant contamination for $225. When quoted around $5500 by a shop.
Update: July 2021: Yes it is still running good, although if I'm driving in town I sometimes turn of the OD. It shutters going into OD when I'm putting around at 40-45 mph. It also sometimes it downshifts hard when going from OD to 3rd.
I put a rebuild TCM into it. It was around $800 for the unit. It wouldn't start or turn over, it had a blown TCM fuse. It had gotten antifreeze up on the connectors and eventually shorted out.