I have a '99 4wd and have been vigorously replacing tranny fluid as recommended by others. After reading so much about the 2 speed sensors, I went ahead and replaced them. I had to say that I was amazed by the improvement in shifting quality. The old input turbine speed sensor, facing the bottom of the air filter housing, had a dirty tip. The counter gear speed sensor, 45 degree facing the bottom of the battery, looked clean, but I decided to replace it for the peace of mind. My experience told me weak sensors may not trigger a code. By the time they go bad/dead, for a transmission, it is too late. I purchased them from RockAuto (listed under "cruise control sensors"). The sockets for "Aisin sensor" and "Toyota sensor" are different. There is a notch in the middle for Toyota sensor, but for Aisin one it is off-center. You'll have to unplug yours to see which one fits your socket. To remove the sensor, you need to swing, twist, and pull. To install, you need to lube the o-ring with tranny fluid and make sure you push it all the way in. It is a tight fit, but an easy job. By the way, our transmission is build by Aisin Warner/Aisin Seiki, part of Toyota.