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i need some help guys this is a nice atv with only 300 miles on it and my father inlaw has just given it to me but it has a problem it has the auto and esp shift the esp light flashes. it will go but wont change gears in auto or in esp .... any ideas on what to start looking at

yeah just got a free 05 honda 400fa with the auto and esp and it will crank and go into gear but wont come out of 1st and the esp light flashes and when goes into reverse has lil to almost no power just tring to get it back into the mud. thee old owner is rich and didnt want to try and fix just...