Usually this is caused by the shift linkage at the transmission binding, which will cause tension, and even though drive is engaged, as soon as you get a bit of a torque shift, it'll drop into neutral.
The linkage can sometimes just be removed, cleaned, and lubed up, but often requires replacement as the plastic will get damaged during removal if it's real bad.
The linkage can sometimes just be removed, cleaned, and lubed up, but often requires replacement as the plastic will get damaged during removal if it's real bad.