I have a 2002 Ford Escape. When shifting into drive the transmission will not engage. No feeling of vehicle locking into D. The engine will just rev. Reverse works fine. The vehicle drives perfectly if I start in 1st, shift to 2nd then put in drive. The vehicle will continue to drive perfectly even when I come to a complete stop and leave it in drive. If I shut the vehicle off I have to manually shift it to get it to move again. While driving the vehicle shifts perfectly. Transmission fluid is full and clean. No Check engine light. Scanned anyway, no codes. I feel like it's a sensor or solenoid issue but don't want to just throw parts at it. Can anyone point me in the right direction? THANK YOU IN ADVANCE!