Can anyone fix this Honda Oddessey 2000 TCS PROBLEM?

I own a 2000 Honda oddessy and when I turn on the car if it is cold outside the TCS light turn on and I can t shift my car into drive only reverse and 1st and second and I usually have to wait for the car to heat up with the heat on and restart the car after a while for the TCS light to turn off and for me to use drive.

Anyone ever have this problem or know what it could be?

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