I have a 04 nissan sentra ser and when the car is cold and i turn it on it wont take off on D but it will take off on the 1 and 2 and reverse but it wont take off on D till about 10 minutes after heating up its like I put it into D but I dont hear the transmssion gear changing

It has 153000 miles the previous owner beat it. It feels like the transmission dont kick in

If the rest of the car is in good shape and you have a friend that will remove and reput the transmission in the car, you could get it rebuilt for a fair amount (couple of hundreds, about 500$ I think) While you're at it, it would be wise to get the engine head verified: Nissan 2.5 engines are known to have issue with blown head gaskets. If you want to get the job done by a mechanic, I suggest you also consider buying another car and selling this one. Just compare the prices.