Gear shifter problems automatic transmission

Hi, I have a 2012 Taco. I recently started having some issues with the floor shifter being kind of stiff and sometimes when I'm backing out of my drive way and go to put it into drive it will not go into drive. I mean it goes there on the shifter but it doesn't actually go into drive. And the indicator lights doesn't indicate anything. But when I play with it by shifting up and down a couple times it will kick in and the indicator light will light up showing I'm in drive etc.
It only has only did this about three times in about a two week span. But its kind of disturbing.
Most of the time its fine. Has anyone ever had this problem and what can you do to fix it? Its a 2012 regular cab 4x4. thanks

 

I had this problem when it was -15ish out but it seems to have went away since, I had read up on this thread. I too had the exact same symptoms, gear shifter was very stiff, gear indicator light would not show up however once I shifted around a bit it eventually came on.

https://www.tacomaworld.com/threads/05-tacoma-stiff-automatic-gear-shifter.153019/