When putting car in reverse, transmission disengages, then gores back into gear on 1998 Lexus LS400

After starting car, transmission disengages when in revers after 7 seconds, then 15 seconds later, goes back into gear. When put into drive, sales thing, disengages, then goes back into gear to drive. Afraid to drive to far. It it the selenoid shift. Have not had diagnosed for error code. Thank you

Asked by for the 1998 Lexus LS400
Check the fluid level while the engine is running, then see if there is any error codes, maybe go to AAMCO for a free diag and estimate.
Will do, many thanks.
U bet and good luck
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