Reverse/forward transmission issues

Started having a problem with my truck. Whenever I change gears to either drive or reverse my truck is sluggish and feels like the e brake is on and tires start to spin at higher rpm's, however the truck does not want to go forward or backward. I change the gears a few times and it eventually straightens out. It is an automatic. The truck shifts fine in all forward gears. It just occurs when I change gears either starting off or backing into a parking spot. Transmission fluid is good. Does anyone have any ideas or had similar issues? I am sure the gear selector Ford is correct too.