Automatic transmission does not respond to reverse gear

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Hi guys,

I have a 2000 Subaru Liberty/Legacy BE series that has a faulty automatic transmission. When I first start the car up, it responds to either 1st, 2nd, Drive, Neutral, and Park when selected and smoothly shifts through all gears when driving on the road. However, when I need to shift it into reverse, the transmission does not respond when I give it some throttle to back out of the driveway, so I have to rev it SUPER high for the transmission to then decide to slam into reverse gear with a loud boom/clunk coming from the rear of the car. However, when pulling out of a store after a long drive, the reverse gear works fine. Its only when the car sits for a long while that I lose reverse gear temporarily before having to rev it up like crazy again to back out. We changed the transmission fluid and filter but the problem persists.

An additional observation I've noticed is that when I rev the guts out of the car like a maniac when rushing to work, the transmission starts to make a faint whining noise and does not change from e.g. 3rd-4th unless I rev it super high when I start driving slower, to which it makes a loud clunk after changing to 4th, like as if it is stuck on 3rd gear. So, I pulled over to turn the engine off, then back on which seemed to resolve the issue and allow the car to shift normally.

If anybody can help me track down the reverse gear issue, I could let my local mechanic know what it is and fix it. Thanks.
 

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