1997 Ford Ranger 4.0 V6 won't shift into drive after being driven. Takes longer than should to shift into drive when first started?

It will go in reverse fine. First thing in the morning when I leave for work, it will shift into drive on it's own, but takes a bit longer than it should. After getting it warm, won't shift into drive at all. I can shift down to 1st or 2nd, then back into drive and it will "pop up" into drive within a second or 2. I also have a ODB2 error P1744 (Torque Converter circuit).

Why don't you take it into a transmission specialist? Sounds like it needs some TLC