I have a 2000 Acura TL, and my idle is real low, so low when the engine gets warm it wont engage when in D5, i have to step on gas to get it to move.

 

we need more info- whats the current miles and salvage title? or good title
Had the oil jet kit installed on trans?
how long have you had the car?
tune up parts are ok?- pulled a plug to see if they were replaced at some point?
not called for till 105 but many replace early
Air filter is clean?
there isnt an easy adjust for the idle- all computer controlled off various sensors- it can be done but need to find out why its low or you can make it worse

Often when the trans is going/dieing, it loads up the TQ with clutch crud, cant suck fluid thru the internal screens, wont engage gears and can lug down the rpm

Does it do anything funny when shifting by itself into 2nd and 3rd gear?
slipping- doesnt want to engage- clunking into gear?
and at idle- does it get D within 2 seconds?

when hot, trans probs get worse

stop by aamco or big place for a free trans inspection and code reading
report back with their opinion- dont let them do any work yet- just diagnosis