Transmission Not Go Into Gear problems of the 2003 Ford Explorer Sport Trac

Truck was running fine. Then on several occasions it would slip out of gear while I was coming off of or onto exit ramps. Seemed like as the engine decelerated it would slip into neutral. Sometimes it would eventually find the gear and sometimes I had to come to a complete stop, which was really scary since I was in traffic when this happened. A short time late (a matter of weeks). I noticed it would not go into gear when the truck was cold (after sitting overnight. This has rapidly progressed into almost complete failure. I can still get the truck to move if I shift manually into l1 or l2 but d does not work at all. Additionally I noticed that sometimes my o/d light would be blinking and sometime o/d would go completely off and the truck would not shift into high gear. I found if I stopped, turned the truck off and restarted it would often fix the issue. This is not longer true. I will be taking the truck to my mechanic on Monday. I looked up the issue and see that this is common complaint with many early 2000 Ford vehicles. Shame the company does not recognize it's failure and stand up and fix it. I did not have any accident due to this issue but I could see if this failure occurred as someone was pulling into traffic or in the middle of heavy traffic that this could definitely cause a serious accident.