Tires and Wheels problem
2004 Ford Taurus 6 cyl Front Wheel Drive Automatic 120000 miles
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When I drive about 40 miles (sometimes more sometimes less) the check transmission light comes on. Check fluid and its OK. "reset" and the message goes off. Comes back later (sometimes). Does transmission fluid need cooling and heating causes message? Or just a "computer" probler?

Sounds like a check engine light, I'm not aware of light like you state, but see how it could be confused.

The check engine light needs to be diagnosed. A technician will get the codes from the computer and match those codes to a troubleshooting tree that begins the process.

I just purchased a 2005 Taurus w/ 80K miles. While driving it home from the auction (about 20 miles) the "Check Transmission" message (not a light, but message that displays in the computer readout area that also displays avg MPG's, miles to empty, trip miles, etc.) Message went off after a few minutes, then reappreared. Fluid level checked out OK.
Transmission shifts OK, but does seem to shift a little jerky.

Okay, I gotcha. Still need to see what codes are in the computer that are transmission related.

Transmission shop scanned, and 2 codes showed up: one had TCC in it (something to do with torque converter), and the other was something to do with turbine speed sensor, which they said was set off by the TCC problem. They said it would be about $650 to repair. Car still runs OK.