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This site will give you the factory service manual for your frontier. You will need to choose the specifics for your truck. Nissan Frontier Factory Service Manuals
Either transmission oil pump is on its way out or reverse circuit is clogged , reverse shift solenoid is defective TCM may be defective , transmission range sensor begining to fail or manual shift valve and pressure regulator are defective.
Suggest taking the vehicle to a transmission repair shop they will diagnosis it and repair it.
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