Does not always shift into OD and reverse, Switching off the ignition resets the

What is your question?

2004 Toyota tundra 4x4 6cyl. 173,000 miles. They both seem to go out @ the same time. After noticing it not shifting to OD, I pulled over and tried reverse. It would not work. I can switch the ignition off, crank it back up and they go back to working? Sometimes you can drive an hour or two or it may be just a few miles before it acts up again. Any suggestion would be greatly appreciated. Thx

What makes this problem better or worse?

Nothing

How long has your 2004 Toyota Tundra had this problem?

About a month