when the car warms up it will not go into drive or overdrive 2007 ford taurus?

TRANS fluid si JUST like ENGEIN OIL! IT MUST be ahanged usign ONLY the proepr FORD SPECIFICATINO fuilld! So GO to the FORD DEALEr and have the TRANS SERIVE cfone! NEVER at an OIL CHENGE CANTER that uses UNIVERSAL FLUIDS!! FORD wil use the EXACT right fluids and filter  and GASKET with ZERO compromises! Expect antoher 100,000 miels fro it and use ONLY PENNZOIL ULTRA PLTAINUM for OIL CHANGES to get a warranty to 500,000 miels! It is MADE from natural gas and CLEANS as you DRIVE! CAHNGE every YEAR ONly and use a SYNTHETIC OIL FILTER good luck! >>>XCHANCES are your FLUIDL LEVEL IS LOW! Use the DIPSTICK to check! This fluid EXPANDS and CONTRACTS andyour symptoms are LOW FLUID LEVEL! Do NOT use CHEAP TRANS FLUID! DO NOT USE  VALVOLINE trans fluid EITHER! it is made from ASH and cheaply refined! Try to find AMSOIL or PENNZOIL fluid to tip it up or even NAPA may wprk! It msut be FORD SPECIFICATION FLUID ONLY! Valvoline shoudl be OUT of BUSINESS by niow! IT RUINS engiens EVERYWHERE with tar, sludge, wax and VARNISH depsoits and does NOT protect at START UP! adn RUINS TURBO CHARGERS as well! 

Bad linkage or bad transmission range sensor (park-neutral switch).  Check for trouble codes with a dealer level scanner.

Are you (not) saying that it works perfectly well when cold?  Too little info to do more than hazard a guess:  the cable linkage between the shift lever to the transmission needs adjusting.

If it does not go into drive, it cannot go into overdrive. It will only go into overdrive when you are going down the road. Your problem could be the transmission is shot, something is not letting it go into gear, I suppose there are several thing that could go wrong. Have it looked at by a mechanic or transmission shop. Have you checked the transmission oil?

Really? That's so interesting.