Hello everyone! Just picked up a 96 ES 300. Has anyone ever heard of this. When I start my car it will shift into reverse and go in reverse with no problems. But when I shift into drive it goes no where. After I warm it up for about 5 minutes, put it in drive, with a little rpm it slowly engages and takes off. After that it runs fine. No slipping between shifts (its an auto trans). Attached my obd2 scanner and came up with a P0500 MIL. Vehicle speed sensor. That why the tacometer is dead?

Has anyone heard of this or have any info on this?

Thanks
Ralhieboy.