Only have reverse and first

Hello. I recently began having problems with my car not shifting out of first gear. The check engine light comes on, as soon as it is put in reverse and then goes into gear with a “clunk”. I replaced the input and output transmission speed sensors, hooked up the OBD and cleared the check engine light. Then I took it for a drive. It shifted into R great, then smooth into first. Ran it down the highway, it shifted through the gears great. Drove about fifteen miles, then parked. About six hours later, I hopped in and instantly the check engine came on and it was back to not shifting. Any ideas?