Transmission engages into reverse, and goes into low and park with no issues. Doesn't engage into drive. The D doesn't flash, and no codes thrown. If I put it into "shift-o-matic" and put it in 2nd it engages and drives fine. Thoughts?

 

Oh, 2004 TL, 180k miles. Have been having issues going from neutral to drive since 155k. Seems to shift into gear really firmly and "smacks". Fluid is brown, but full. Filter was changed at 150k.

 

Replace pressure switches and fluid and pray

 

brown fluid, delayed shifting = problems.....

switches wont fix the problem. Your torque converter is burned as are the clutches.
Needs a rebuild.

save the prayer for rebuild cost