Vehicle stalls when put into reverse/drive from a cold start

If it is rolling a little it will start and drive okay.
While driving the vehicle has a hard time shifting into third. Will start to shake and try to shift but not do it. It can be forced into third gear with the shift mechanism. It shifts into fourth okay, but will not shift into fifth gear at 70 mph (or at 70 mph it starts to shudder and won't accelerate further.) I assume it is trying to shift.