From park to drive or reverse it takes a minute for it to engage

Hello, I'm Danny.

First thing I would suggest for you is to check the level and condition of the transmission fluid. Here is a tutorial showing how to change the fluid in an automatic transmission:

https://www.2carpros.com/articles/how-to-service-an-automatic-transmission

I've attached picture steps below on how to remove and replace the transmission fluid and how to properly check the fluid level on your truck. Hope this helps and thanks for using 2CarPros.