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You need to talk to a Nissan mechanic, none of that sounds as if it's working as it should.
If the transmission is good and properly connected there are still some transmissions that require "adaptation" before they will work properly. Others require that the component be matched to the vehicle by VIN association before it will work properly.
Have you had the transmission fluid and filter checked or changed recently? If not, I'd highly recommend that.
From the sound of it, there's a hydraulic pressure issue and the transmission fluid pressure isn't what it should be. That can happen when there's a mechanical issue affecting a component(s) in the transmission, or when fluid is low or when the filter is clogged and/or the fluid needs replacing.
Another thing that can cause that is a problem with the transmission's "valve body" or "solenoids" since the passage of oil could be hindered when switching to certain gears, but not others.
Transmissions have friction components to allow gear shifts, and over time, those friction components wear and can cause issues like you're experiencing now.
The reason you're able to switch into drive with no issue when it's heated up, is because tranny fluid expands when it's at operating temperature, which increases the hydraulic pressure.
Take it to a shop if you haven't had the transmission serviced at regular intervals. They will give you a good idea on what's causing the problem once they've either changed the fluid and filter or inspected the vehicle.
the car needs service,
all you can do is check fuses.
then scan for DTC errors with OBD2 scan tool, P07xx orP17xx errors are trans errors.
the steps to fix or diagnoise any trans fills volumes,
but the maker of your car has book called FSM factory service manual and you can read the A/T pages, on what to do.
Check the brake light function. If the lights work then replace the shift lock solenoid. If they don't work then replace the brake light switch and retry.
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