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I have a 2005 Ford Escape XLT 2.3 non-hybrid. The car runs fine in park and neutral it works fine, when you put it into gear it dies. I have replaced the fuel rail sensor, idle air control valve, and cleaned the throttle body. I'm running out of options. In need of some help, thanks
 

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Did you check the MAF sensor as well as the egr? Maybe you can unplug the egr to see if there is a difference.
 

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Had a similar situation in an older car of mine. Was a transmission position soleniod locking up the convertor at idle producing drag on the motor stalling it.
I'm not sure if this is your problem, or the trans itself, but it's a good start in finding a solution.

Did you check your vacuum lines? Any hissing from the engine compartment when it's idling?
 
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