05 Sonata GLS 3.0 Automatic won't shift into Drive
 

My 05 sonata has a problem occassionaly it won't shift into drive. It will let me move the shifter but the car just doesn't move or rolls backwards slowly It jerks hard from first to second gear unless I gun the accelerator too. After trying to get it to move it eventually won't even roll backwards. It seems stuck in neutral, but it let's me put it in park Every time. All the car does is rev up. If I leave it sitting a few days it works fine again. It also sometimes has a delay. After shifting it to drive from reverse, when it does work, it rolls backwards for a few seconds then rolls forward even at a complete stop. Like it's delaying the shift.