Ford taurus 02 automatic transmission problem?

when put in drive it doesnt engage a gear but reverse works fine. I can force it by manually putting it in first gear to go but not easilly the rps rev high like to 3-4k rpms then it starts to like jerk forward slowly moving then faster and fdaster then once i get up to 20 i can throw it into drive and it will catch 2nd gear and then it will shift one to the next from there all the way to 6 however if you punch it the rpms just fly and wont shift

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