Tranny won't shift into OD until temperature gauge gets about halfway into the range. After engine reaches operating temperature there are no more problems with shifting. 4WD doesn't work either but that's another story.
That's actually a feature, not a problem. The emissions control system will not let it go into OD until it's warmed up.
If your truck warms up in a normal amount of time, then you're all set.
Last year, my 4Runner started taking too long to warm up, so it wouldn't go into OD for a long time. In my case, it was that the thermostat was stuck open, so coolant was flowing freely even when the engine was still cold. Replacing the thermostat was quick and easy, and it's good as new again.
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