My E4OD goes into reverse but will not select forward gears however if I race the engine in the lowest gear the truck moves slightly

the drive shaft just drives a pinion gear in the prop box that drives to gears that spin in opposite directions all the time
by selecting forward with the selector rod , a dog gear is moved forward to mesh with one gear that is turning or moves the other way to engage the other gear that is turning
that is the forward or reverse action for the prop
if you have forward but no reverse the it is not a drive shaft problem but a selector rod adjustment that is not moving the dog far enough to engage the running gear

engine starts but no forward or reverse gears

a manual gearbox
gear selection linkage /clutch / drive line failure

auto faults
low on oil
failed torque converter
gear selection linkage
drive line failure

It's inside the transmission. The shift yoke probably has worn so much that it no longer moves the gear inside.

P=park gear position (no gear selected)
R=reverse gear position
N=neutral gear position (no gear selected)
D=top gear
2=fixed highest gear (used for speed when climbing an average incline and to control speed on decent)
1=fixed lowest gear (used for climbing steep incline or descending slowly)
Note-: Never engage Reverse gear when traveling forwards and never put into Park when moving forward or backwards, also towing most autos should be done no more than 10mph, fast towing can damage the gearbox, also make sure gear is in Neutral when towing.

Are you sure that you are selecting FIFTH or are you selecting REVERSE? A "smart" car will kill the engine if you shift into REVERSE while moving forward, to prevent you from breaking the transmission.

If this is truly a escape your transmission is finished.

This is caused by the gear oil,there is none in the gear box, so get a transmission fluid and fill the gear box with it, run the engine idle for some minutes and then try select the gear.

When I stated the highest gear I did mean to write the lowest gear that goes out first. Pardon my mistake

4R100 or 4R70W?

Geartrain
Power is transmitted from the torque converter to the geartrain components through the input shaft and forward clutch cylinder.

• By holding or driving certain members of the gearset, four forward ratios and one reverse ratio are obtained and transmitted to the output shaft. The ratios are as follows:

GEAR RATIO 1ST 2.71 to 1 2ND 1.54 to 1 3RD 1.00 to 1 4TH 0.71 to 1 REVERSE 2.18 to 1
Input Shaft
The input shaft is supported by two bushings in the stator support. End positioning of the input shaft is controlled by the splines in the converter turbine and the overdrive planet assembly.
Output Shaft
The output shaft is supported by two bushings in the case and by the slip-yoke and bushing in the extension housing. End positioning is controlled by the parking pawl gear and snap ring or shoulder and by the reverse ring gear hub and snap ring.
Overdrive System
The overdrive planetary system consists of the overdrive planet assembly, overdrive sun gear, overdrive ring gear, coast clutch cylinder, overdrive one-way clutch assembly and the center shaft, as shown in the following illustration. The overdrive planet assembly is splined to the input shaft. The overdrive sun gear is centered by a bushing on the input shaft and held in place laterally by needle bearings on the reactor support and the overdrive planet assembly. The overdrive sun gear is splined to the coast clutch cylinder, which in turn is splined to the overdrive one-way clutch inner race.
The outer race of the one-way clutch is splined to the overdrive ring gear, which is splined to the center shaft. The center shaft is centered by the forward planetary assembly and is laterally held by needle bearings on the center support and the overdrive planet assembly. The center shaft is splined into the forward clutch cylinder.
Two friction clutches are assembled in the overdrive planet assembly. The coast clutch is splined between the coast clutch cylinder and the overdrive ring gear. The coast clutch is activated to perform engine braking in MANUAL 1, MANUAL 2 and third gear with the transmission control switch engaged.
The overdrive clutch is splined between the case and the coast clutch cylinder. The overdrive clutch holds the coast clutch cylinder and, in turn, the overdrive sun gear, to permit the planet assembly to overdrive the ring gear.
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Forward Drive System
The forward drive system consists of the forward clutch cylinder, intermediate brake drum, intermediate one-way clutch, input shell, forward ring gear, forward ring gear hub, forward/reverse sun gear and the forward planetary carrier and forward planetary gears.
The forward clutch cylinder is splined on the center shaft. The forward ring gear is piloted on the forward ring gear hub. Thrust bearings on the forward planet assembly and forward clutch cylinder hold the forward ring gear hub in place.
The intermediate brake drum is radially supported by bushings on the center support and is laterally controlled by thrust washers on the forward clutch cylinder and center support. The intermediate brake drum has the inner race of the intermediate one-way clutch press-fitted on its pilot. The intermediate one-way clutch's outer race is splined to the intermediate friction clutch, which is splined to the case. The intermediate brake drum has lugs that are slotted into the input shell to form a mechanical connection. The input shell is splined into the forward/reverse sun gear. The forward/reverse sun gear is common to two planetary gearsets. The forward planet is splined to the output shaft and is laterally positioned by needle bearings on the sun gear and on the forward clutch cylinder, as shown in the following illustration.
Two friction clutch assemblies, the direct clutch and the forward clutch, are shown with the forward planetary assembly. The direct clutch assembly splines the forward clutch cylinder to the intermediate brake drum. The forward clutch assembly splines the forward clutch cylinder to the forward ring gear. The forward clutch is activated during all forward gears. While in third or fourth gear, both the direct and forward clutches are applied to hold the forward planetary assembly and enable it to act as a solid shaft.
In second gear, the intermediate clutch assembly holds the forward/reverse sun gears. It is applied, along with the intermediate one-way clutch, to hold the intermediate brake drum, input shell and forward/reverse sun gear. In higher gears, the one-way clutch overruns.
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Low and Reverse Drive System
The reverse planetary assembly consists of the reverse planetary carrier, reverse planet gears, the reverse ring gear, the reverse ring gear hub, the reverse clutch hub and the low-reverse one-way clutch assembly.
The reverse ring gear hub is splined to the output shaft and to the reverse ring gear. The reverse ring gear hub is laterally held by a needle bearing on the inner race of the low-reverse one-way clutch and a snap ring on the output shaft. The reverse planet assembly is splined to the low-reverse clutch hub. The low-reverse clutch hub is connected by the reverse clutch to the case. The inner race of the one-way clutch is bolted to the case.
The reverse clutch assembly is activated in REVERSE gear and in MANUAL 1. The reverse clutch bypasses the reverse one-way clutch during coast and MANUAL 1. The reverse clutch holds the reverse planet assembly in REVERSE gear to enable the sun gear to drive the reverse ring gear in the opposite direction.
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Apply Components
The following information describes the operation of the three 4R100 one-way clutches.
One-Way Clutch—Overdrive
The overdrive one-way clutch, shown in the following illustration, transmits engine torque from the overdrive sun gear to the overdrive ring gear in first, second and third gear range. The overdrive one-way clutch transmits power when the sprags are engaged between the inner and outer races. The inner race is splined to the coast clutch cylinder, which in turn is splined to the overdrive sun gear. The outer race is splined to the overdrive ring gear.
The overdrive one-way clutch engages whenever the overdrive planetary system attempts to drive the overdrive sun gear clockwise when the overdrive ring gear has a counterclockwise torque from the vehicle. When torqued counterclockwise, the overdrive one-way clutch engages and acts as a wedge to lock the sun gear and the ring gear together. During coast, the overdrive one-way clutch enables the ring gear to overrun or spin at a faster rate than the sun gear.
The overdrive one-way clutch overruns when in overdrive (fourth gear). In overdrive, the coast clutch cylinder is held by the overdrive one-way clutch, which in turn holds the overdrive sun gear. This causes the overdrive planet assembly to walk around the sun gear and overdrive the overdrive ring gear. The inner race of the overdrive one-way clutch is thus held stationary while the outer race is allowed to overrun clockwise.
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Transmission Description The E4OD transmission is a fully automatic, electronically controlled, four-speed unit with a torque converter clutch. The main operating components of the E4OD transmission include a torque converter clutch, six multiple-disc friction clutches, one band, one sprag one-way clutch and two roller one-way clutches that provide for the desired function of three planetary gear sets. Transmission gear selection in the (D) range and converter clutch operation is controlled by the powertrain control module (PCM) (12A650). Operating conditions are relayed to powertrain control module by various sensors throughout the vehicle. The powertrain control module compares these conditions with electronically stored parameters and logically determines how the transmission should operate. A torque converter (7902) couples the engine to the transmission gearset via the input shaft (7017) and the torque converter impeller hub. The impeller hub provides engine rpm to the positive displacement pump. The flow from the pump is proportional to engine rpm, and excess pump capacity is exhausted back to the pump inlet. The input shaft transfers power into the transmission gearset. The power input is controlled by the application of the torque converter clutch, which is scheduled through the powertrain control module. The application of the piston plate effectively replaces the hydraulic coupling between the converter cover and the turbine with a mechanical coupling between the converter cover and the turbine hub. This mechanical coupling helps improve fuel economy and wide-open throttle performance by eliminating converter slip. Transmission shift selection and torque converter clutch operation are controlled by the PCM. They are calibrated to provide the optimal transmission state. This state is commanded to the transmission solenoid body. In the (D) range, automatic operation of all four gears is possible. The transmission control switch, located on the vehicle's shift lever disables overdrive operation and enables automatic operation through the first three gears. Whenever the ignition switch is turned on, the vehicle will automatically provide overdrive operation regardless of the switch position the last time the vehicle was running. Manual gear selection is available in the 1 and 2 range. Second gear is commanded when the gearshift selector lever is in the 2 range and when downshifted into the 1 range at speeds above approximately 56 km/h (35 mph) (for diesel 48 km/h [30 mph]). First gear is commanded in the 1 range at start-ups and when downshifted into 1 range below approximately 56 km/h (35 mph) (for diesel 48 km/h [30 mph]). Any reference to intermediate brake drum or direct clutch cylinder are one and the same.
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I think this is your problem:

Programmable Speedometer/Odometer Module (PSOM): Description: The programmable speedometer/odometer module receives input from the rear brake anti-lock sensor, which is mounted on the rear axle differential housing. The PSOM processes this input signal information and relays it to the powertrain control module and the speed control module. This signal tells the powertrain control module the vehicle speed in miles per hour (mph). Used as an input in determining shift scheduling and electronic pressure control. Symptoms: Harsh engagements, firm shift feel, abnormal shift schedule, unexpected downshifts may occur at closed throttle, abnormal torque converter clutch operation or engages only at wide-open throttle (WOT). May flash transmission control indicator lamp. Diagnostic Trouble Codes: 452, P0500, P1500, P1501, P0503