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| Model | Years | Speeds | Drive Train | Trans Model |
| Taurus Base | 1986-1989 | 3 Spd | FWD 2.5L L4, 3.0L V6 | ATX |
| Taurus GL, LX, L, MT5 | 1986-1990 | 4 Spd | FWD 2.5L L4, 3.0L V6, 3.8L V6 | AXOD |
| Taurus GL, LX | 1991-2003 | 4 Spd | FWD 3.0L, 3.2L, 3.8L | AXOD-E, AX4S |
| Taurus GL, LX, SHO | 1994-2000 | 4 Spd | FWD 3.0L V6, 3.2L V6, 3.4L V6 | AX4N |
| Taurus LX, SE, SEL, SES | 2001-2007 | 4 Spd | FWD 3.0L V6, 3.8L V6 | 4F50N, AX4N |
| Taurus , Taurus X, SEL Limited, Eddie Bauer, SHO | 2008-2019 | 6 Spd | FWD, AWD 3.5L | 6F50, 6F55 |
| Taurus SE, SEL | 2013-2017 | 6 Spd | FWD 2.0L L4 Turbo | 6F35 |