why will my truck not shift in drive but will if i put it in 1st

I wonder if the hesitation is worse when the Truck is cold. If so, the seals are failing and it's time for an overhaul. When the trans warms up, those old, stiff seals get a little more pliable and work a little better. It would help a little to know the engine and trans types though.

its 5.4 automatic and it doesnt matter if its warm or cold it hesitates hard in drive before it will engage and move

Sorry friend. It really sounds like time to have the transmission repaired or replaced. It's not a popular thing to say on this forum but Ford Dealers do have a great warranty on their reman transmissions and the price isn't bad compared to an overhaul.

check the speed sensor on rear axle......center, top, one bolt. 35$