The truck will not back up when you put in reverse it flashes the line below the R. I transmission is full of fluid and does not stink. The color is good on the trans fluid to
Hopefully Mike L. will chim in with better information/solution but from looking at my ATSG book.
P0876 is "Reverse Pressure Switch Circuit Stuck Open"
P0871 is "Transmission Pressure Switch, Solenoid E Circuit Stuck Open"
and P0743 from searching looks to be a bad F trim solenoid.
So looks like you'll need to pull your transmission pan off and test those solenoids and look to make sure you're wires/connections are good I would think.
Or take it to a reputable allison mechanic that'll look at it.
Where are you located? There maybe someone in your area that someone on the forum could recommend.
What part of Kansas?
Any where close to Kansas City?
There's Saint Joe Diesel in Saint Joe Missouri or Smoken Diesel in Greenwood Missouri that may be able to help you out.