I am not certain, but I have a 92 toyota but mine is 2wd. I had the same problem except mine was having trouble in 4th. I pulled out the transmission and flushed it out and replaced the transmission filter. What could have happened is the guy you bought the truck from may not have serviced the truck the way it should. If he let it run low in transmission fluid it could have sucked trash into the teeth of the gear which would cause it to not shift correctly. If this does not fix your problem then I would consider taking the truck to a transmission tech. And let them look at it.
Hope I could help.
T MAN
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Sunday, January 3rd, 2010 AT 12:07 AM