Having problems on start up, shifting into reverse or drive its hard engagement and truck goes into limp mode, can stop restart and shift to neutral and the reverse or drive and everything ok. any suggestions?

 

Welcome to DF!

Moving this to Third Gen Dak section for ya.

 

Scanned for codes?

 

yes want them?

 

I don't but that should be your starting point. Look up what the codes mean.

 

I did and I can get the same ones everytime it hard shifts into gear, I have come to the conclusion there is a communication problem in the computer and the transmission, I'm trying to find one , was just trying to get second opinion.

 

long shot here, but how's your battery? is it getting older? If so, try that. older batteries tend to make some strange symptoms on these dakotas