Here's a breakdown of the likely culprits:
* Low Transmission Fluid: Check your transmission fluid level immediately. Low fluid is a common cause of sluggish shifting and inability to engage gears. If it's low, you'll need to find out *why* it's low (leak, internal failure).
* Failing Transmission (most likely): The age of the vehicle makes internal transmission problems highly probable. Common issues include worn clutches, low internal pressure, or failing valve body components. A complete transmission rebuild or replacement might be necessary.
* Torque Converter: The torque converter connects the engine to the transmission. A faulty torque converter can cause slow engagement and problems with reverse.
* Shift Solenoids/Sensors: While less likely to be the *sole* cause of your problems, faulty shift solenoids (which control gear selection) or related sensors could contribute to the sluggish shifting and reverse issues. A diagnostic scan tool can check for sensor codes.
What you should do:
1. Check the transmission fluid: This is the absolute first thing to do. Make sure the engine is running and warm, and check the fluid level using the dipstick (refer to your owner's manual for the correct procedure). Note the color and condition of the fluid (it should be reddish and not smell burnt).
2. Get a diagnostic scan: Take your Taurus to an auto parts store (like AutoZone or Advance Auto Parts) that offers free code reading. They can plug a scanner into your vehicle's diagnostic port and check for any trouble codes stored by the transmission control module (TCM). This can help pinpoint potential sensor problems or other electrical issues.
3. Professional inspection: Based on the fluid check and scan results, take your car to a qualified mechanic specializing in transmissions. They can properly diagnose the issue and provide an accurate repair estimate. Don't attempt major transmission repairs yourself unless you have extensive experience.
Ignoring the problem could lead to further damage and a much more expensive repair. Addressing it promptly is key.