With 162000 miles and a remanufactor transmission once warm up.
It will shift into D and go but once into park and then again D will
not go. But then engine needs to be turn off wait a few minutes start
it back up is goes again. Any suggestions how cheap will be to
fix it?

Check the "neutral switch"....aka range switch.
It is on top of the transmission.....
Check out www.autozone.com in the vehicle specific repair information.