I drive a 1998 Ford Contour, the transmision goes into nertral on takeoff in drive, you can manualy shift through the gears and get going, but not from drive.
Could be simple linkage, or electrical switch problem. Then again something much more serious. Check the trans. dipstick for fluid level, color, and smell. If the trans hasn’t been serviced regularly (ie every 30K miles trans fluid replaced) then it could be a sign your trans is about to go out on you.
If you have a trusted mechanic, go there first for an evaluation of the issue.