I only took it right up the road to see if it WOULD shift. Only did it once. It is at home right now. The friend said it drove fine yesterday, he just drove it not even a mile up the road. then this morning started the problem.

I am getting voltages from the TPS and its steady reading from idle to WOT so I guess I can throw the TPS out as a problem.

Ill get under the truck and inspect all connections and grease them up. Should I back up and down the drive way again to check to see if the problem goes away or what else should I do?

Yes the truck will move, its just something with the automatic shifts. I hope it is something I can fix.