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The M5OD-R2 tranny you have is a light duty tranny built by Mazda. It has a known weak input shaft, hence the low tow rating. As I said, you don't have the right tool for the job. If you want a truck with a manual for towing, get a F250, it uses a truck duty manual.
The stock clutch can handle a 3500# tow, if yours is slipping, it's worn out. I had a heavy duty put in mine and it sucked. It chattered like crazy driving it unloaded. I just had a stock clutch put back in.
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2003 F150XL 4.2 short cab/bed 4x2 5 speed manual 3.55 LS
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