I cannot catch drive at a standstill.

Hi there, let me elaborate a bit for you.
This started on 8/15.
I crested a hill and put it into neutral and when I got to the bottom, I popped it back into the drive position but it wouldn't catch.
As of right now, I can shift into P, R, N, D2, and D1 no problem. Whenever I shift into drive at a stand still, it acts as if it is still in neutral. When I shift into D2 or D1, it will take a while to realize that I am in these gears before catching them. If I get my car into D2 and going about 35 mph or 3.5k rpms, I can shift it into drive and it attempts to catch third, if it catches third, I can get it to catch fourth by accelerating however it has to rev into very high rpms (4.5-5k) before it catches. If I am in drive and come to a stop, it shifts out of drive and feels like it is in neutral since I can roll backwards There are no warning lights on.