I hope this is not too vague. We have a 2014 Fleetwood Excursion 33D with the 300 HP Cummins and (what I think is a) Allison 2500 transmission. We bought it new off the lot in March or 2016 and it...
you should always shift to neutral before shifting to drive or reverse. You will need to take it to a Freightliner or Allison dlr to trouble shoot your problem though as rv dlr's in general dont work on the chassis.