I own a 2002 F-150 Super Crew Lariat. Yesterday as i was driving home from work, i got to the store to pump gas, and i noticed the check engine light turned on . As i tried to go drive in reverse, the gear would not kick in. I checked the transmission fluid and it was low 1qt. I added it and tried to reverse and nothing. I got some help to try to puch the truck back in neutral an it wouldn't move either. After much struggling, the gear kicked in hard, and i almost crashed . All the gears change correctly when driving forward , but the reverse kicks in hard and feels like a bumpy ride. Does anyone know if i need to repalce/rebuild the tranny or can it be something else???