I have a 2002 Taurus, my transmission has hesitation while in gear and I have to shift down to first to go forward than shift back up to drive and it's ok. Then it repeats everytime I stop.

These cars are notorious for bad transmissions. Most of them fail between 60,000 and 80,000 miles. I would fix it, drive it for one year and sell the car. You cannot sell it with a bad transmission, but, you can fix it and get some service from it.

By the way, if there was a recall and I've never heard that, they should have recalled the entire car from being manufactured as it is not a good car. It has a very checkered service history and a lot of disgruntled customers. You are not alone, my advice is next time purchase a Honda, Toyota or Subaru. Stay away from Nissan, they're the most inconsistent Japanese cars. Good luck.