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It will mechanically bolt up, but don't expect a "plug and play" experience.

The 99 will have an OSS sensor. The 95 will have VSS sensor. The sensors are NOT compatible with each other. In addition, the sensor type must match the PCM and transmission harness.

There is an added issue with the 4R70W transmissions as they get newer, the level of direct PCM control goes up.

If you want a plug and play swap, stick with 99-03 from a V6.

The 04 will work but the number of teeth on the OSS ring will be different. This will need an PCM update to correct the speedometer.

It may be possible to swap tail shafts but expect some dis-assembly as the OSS ring is pressed on the the output shaft.
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