Land Rover Repair: 1999 Land Rover Transmission, repair options, transmission repair

Question
The transmission on my 1999 Land Rover will not engage until about 5 minutes down the road. I'll pull out of the drive way (reverse) and shift to drive just fine, but the RPM's go really high without any speed at all- like 10 miles an hour. It's really loud too. I can't go past about 20 miles an hour without the RPM's being about 4000 or higher. If I keep pushing the gas pedal until it reaches between 5000 and 6000 rpm's it shifts and does fine. I've had a transmission fluid and filter changed about 3 weeks ago and it did right after. Not now.

Answer
The problem is almost certainly inside the transmission.  If your car were in our shop, we'd pull the gearbox and send it to ZF for repair.  Most dealers will just fit an exchange transmission.  Repair options for you will depend upon the capabilities of your shop.