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Transmission slips then reenages at high speed

I have had at least three mechanics look at this problem. I had my transisson oil changed and checked. No metal is in the pan and I was told the transmission is in great shape. My problem...while driving on the highway it seems that the transmission will slip out of gear and reengage with a small jolt. Sometimes the car engine will shut down at a stop light. I maintain my van on a regular basis. The computer shows nothing wrong. I am wondering if the computer is not working. I had the air bag light on for a long time and now it is off. I have called and explain to Toyota about this problem and they say the only way to figure this problem out is to drive it. They drove it and nothing happened. Has anyone experience this problem? It is a 1993 Toyota Previa with 183,000 miles on it. Thanks.

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