Your 1994 a4ld transmission wont go into drive right away but it goes into reverse fine Why?

try having the transmission flushed out sounds like you got water in your tranny..also ifit is rear wheeled drive check the output driveshaft seal. if its gone bad that's prob how the water got in.... same thing happend to my mustang...... she hesitated going into drive........ i drained it and put new filter, driveshaft seal and fluid and she ran fine after that