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2002 Nissan Frontier won't engage on drive

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My 2002 Nissan Frontier will not engage when put on drive but will engage in reverse ,2nd and 1st, when put on drive is like is on neutral press the gass and it won't move! I took it to a auto part store and the connected it the the computer and gave me the codes p0328,p0327,p0500 and p1491 any suggestions on what could be?
Vehicle: 2002 Nissan Frontier xe crew cab 4x4

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