After I have driven my car for a long period of time it will not engage in drive

Will the shifter move to the drive position or is the shifter stuck in park? If its stuck in park then check your brake lights. You could have a brake switch issue. Alex

A knowledgeable 'mechanic' using the appropriate equipment can test the transmission fluid pressure along with a full scan test to help determine if this is an internal failure or an external component that needs to be replaced .. In any event - hands-on testing will be required. ▪️https://repairpal.com/repair-shops▪️