940 GL GearBox Problem

My 1995 Volvo 940 GL, mileage 250,000km. Problem is after the gear shift lever moved to Driving (D), the gear is not engaged and car won't move. I have to either wait for 10-15 mins for the gear to finally engaged or i need to ram the engine moderately before the gear engaged, with sudden jerk. Once moving, no more problem. I wont put to N at traffic lights fearing that it will not engage again. Reverse is OK. Transmission fluid is OK. Why? Need total change of gearbox? very costly. Appreciate advise.
 
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