Car runs fine in park when we put it into drive it stalls.

Fuel pump

It appears you may have a bad ignition coil that cuts out after it gets hot. Not uncommon.

Check the rpm in neutral should be around 800-850, this should drop to 500-550 in drive or reverse.

Have the catalytic converter checked at your local muffler shop...clogged...worn out...Hope this helps.

It sounds like the catalytic converter could possibly be almost completely plugged up not allowing the exhaust to leave the engine like it should. It just builds up in the cylinder head and when it gets too much in it built up and there's no where to go, it'll stall the engine. By letting it sit for a few minutes, it gives the exhaust time to find a way out and the car will restart.

I have a 1989 5-series BMW which sometimes stalls after changing from reverse to drive. It also sometimes shakes when first driving in reverse before changing to drive.

sounds like a electrical problem somewere

CHECK ALL OF YOUR COIL PACKS,YOU MIGHT HAVE TO REPLACE THEM.

Check for trouble codes first thing, It could be a number of things. example, mass air flow sensor, map sensor, crank sensor, ignition module. Check for codes first to see if there are any. That will help you get on the right track

needs a new temperature sensor for the cold start