URGENT Diahatsu SIRION 2003 Auto GEAR probelms ... plz help ??

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hello every one i m having serious problems with my Diahatsu Sirion 2003 Auto transmission i guess. the car has a milage of 129,000 KM.
While driving on 'D' everything is ok it is when I put the car into N 'neutral' when at a traffic light or when i have to wait in a long que in traffic jam then i change gear to 'D' for driving but the car does not move as i press on gas pedal although RPM goes up and then i have to change gear to 'P' then maybe to gear '2' or gear '3' and then bring it back to 'D' and then the car moves. This has happened a lot of times now. After brining the car to hal I put it on 'N' just to give the brakes a lil cooling and lift my feet off the brake pedal but the changing to 'D' and car doesnt move. What could be the problem plz help ??? Is my gear ok ?? do i need to change transmission filter. I regularly check transmission oil. Plz help...