Tacoma delayed gear switch

I own a 2008 Tacoma with 99,565 miles exactly, recently did its 90k transmission service because every time I put it into D "drive" it gets stuck for about 3-5 seconds and then engages.
This seems to only happen when put in Drive, 2L-3-4, not Reverse or neutral. If I don't hold my foot onto the brake while it tries to engage, it just shoots me forward and makes a very rough clank then moves slowly forward like every car does when in gear. The rest of the gears when driving through the city/highway shift fine.
I was told that it can be my Neutral Safety Switch, Transmission solenoid, or Dirty/non-greased U-joint/driveshaft.
I don't know what the issue could be so I'm hoping someone here might have gone through the same issue and knows what to do or just knows what it could be. Thanks!

Here's a video of me putting it into drive and you can hear the metal clank, it's not as rough as usual because I'm hold the brake down while in drive.
https://youtube.com/shorts/dLaZWlzgoGk?si=hE69kngKwVThulel

 

Mine is doing the same. I’m guessing it’s one of these things causing the issue:

• Low transmission fluid.
• Gear selector contacts worn.
• Transmission solenoid faulty.

My best guess is it’s something electronic because it doesn’t happen every time, just randomly, although quite often enough that it’s annoying.