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98 FORD TAURUS WILL NOT COME OUT OF PARK IF YOU KEEP TRYING IF WILL EVENTUALLY. ONCE IT DOES THE CAR RUNS FINE WOULD YOU KNOW THE PROBLEM?

The passenger side powerlock motor of my 1998 Taurus makes noise but would not lock or unlock the door when I activated it.  I was able to remove the door panel, but cannot disconnect the motor from the lock connector.  Would you kindly advise me how to remove the motor from the doorlock connector and how to lubricate the doorlock ...