2003 Ford Expedition Rev up engine to engage transmission I

2003 Ford Expedition. I have to rev up the engine to around 3 to 4 thousand rpms before it will engage into drive. After that it shifts fine as long as the overdrive is off. Reverse is fine and gear shifting in between is also fine. If I rev it up just right it will slip in, but... If I miss it it engages very hard. Please help... I was told by a shop something about a solenoid and only ford could do it.