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Go to a honda dealer and get 6 qts of Honda ATF. Change the ATF 2 times, using 3 qts each time you drain it, and driving around the block in-between the changes.
There is a chance that if you call Honda care and give them a song and dance that they'll pay for the transmission if you pay for the labor, etc.
...but the dealer is going to tell you you need a new transmission. Given that reverse is having that problem... your in deep doo-doo.
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