Wont idle,surges when accelerating, wont shift to high gear

its in limp status maybe need to do learing gear
you can by the luanch in actuation test

check tranny fluid level,if good,either pump in tranny is bad or cluthces in tranny is gone bad,how many miles?

Do you have any codes? If so, what are they?
If not, this could be a mechanical problem with either the torque converter itself or some sort of stuck valve in the valve body inside the transmission.
I just replaced the valve body in my wife's 1999 Mercury Sable and it cleared up a number of problems she was having with shifting and torque converter lock up.
I hope this helps.
Good Luck!

1st to second sounds like a forced shift i would check the 1-2 shift solenoid inside the transmission and make sure the speed sensors are all in good working order, clean and apply electro grease to plugs on the transmission , as for the idle problem it could be many things from sensors for the engine to a torque converter lockup solenoid need more info is the check engine light on? you said it shudders is it missing or has a surging idle ( high and low) does it die when it goes low idle or stay running

A variance of 20 PSI indicates a problem.

For this types of problem,there are few help inks to troubleshoot the problem.Click the link below to go through the troubleshooting procedure to resolve the issues :----Idles rough and quits when gas pedal is pressed less? http://technoanswers.blogspot.in/2012/01/1999-ford-f-150-idles-rough-and-quits.html-----------van idles rough? http://howtobyme.blogspot.in/2012/01/2004-ford-freestar-van-idles-rough.html
--------------runs lean and idles rough? http://technoanswers.blogspot.in/2012/02/ford-runs-lean-and-idles-rough.html
-----------Car still runs Rough after tune up? http://howtobyme.blogspot.com/2011/12/car-still-runs-rough-after-tune-up.html
------------Idle flair is noticed on car? Rough idle? car will not idle? Erratic idle speed? http://technoanswers.blogspot.in/2012/02/idle-flair-is-noticed-on-car-rough-idle.html
----------High rpm in neutral? Inconsistant high RPM in neutral? http://technoanswers.blogspot.in/2012/02/high-rpm-in-neutral-inconsistant-high.html
------------Engine Backfires? http://technoanswers.blogspot.in/2012/02/jeep-backfires.html----------- Nissan stalls and bucks on Acceleration?

http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-stalls-and-bucks-on.html

-----------
Nissan Pathfinder Backfires? http://technoanswers.blogspot.in/2012/02/nissan-pathfinder-backfires.html
---------How to adjust rpm? http://schematicsdiagram.blogspot.com/2011/12/how-to-adjust-rpm-on-2009-dodge-charger.html
------------Engine cuts out at 3000 RPM? http://schematicsdiagram.blogspot.com/2011/12/engine-cuts-out-at-3000-rpm.html
----------This will help.Thanks.

sounds like two problems 1 engine can idle high with vaccum leaks or bad idle air control or maf sensor 2 if trans wont shift in to gear fluid first next would be to tcm or wire connection on trans good luck

You have extra air leaking into the intake manifold that mimicks a throttle that is open further than it really is. Check for vacuum leaks.

you could have a vacuum leak that is mimicking a throttle that is open further than it really is. Also could be timing that is too far advanced.

might wanna check intake gasket for leaks on the high engine rev as for tranny might be in the comp