How many miles on pickup/tranny? My '94 C2500 did something similar at 165,000 miles. About 3 weeks after I had bought it used out of Houston and drove it back up to Nebraska this happened. Went to back out of a parking space, as I dropped it into R and started to pull out felt a small lurch but rolled on out as it was slightly downhill. Dropped it into OD and pulled away. Then the fun began out on the street. It wouldn't shift up into 3 or OD while driving, nor did it have Reverse, either, when stopped. Did fluid check, full and bright cherry red. Took it to reputable local transmission shop that does a lot of commercial/fleet servicing/repair work. Come to find out three things that the guy I bought the truck from had done.
1st, the ECM had gone bad, which goes to default mode and puts the transmission into maximum line pressure.
2nd, the P.O. pulled the SES light bulb from the instrument cluster to make it "go out" because it was cheaper than replacing the bad ECM, so transmission shop replaced the SES bulb so they could read the DTC's and discovered the dreaded "death code" for the ECM.
3rd, I was damn lucky on that 1,000 mile drive back up from Houston as going to maximum line pressure caused the face of the Reverse apply piston to blow out when I put it into Reverse. That causes no line pressure from the now huge internal leak for the 3rd/OD apply pistons to work.
So, a new ECM and a lifetime ownership warranty rebuild on the 4L80E with improved/updated/HD parts/clutches/steels and I was back out on the road with a tranny BETTER than stock off the factory assembly line.
The stock phenolitic plastic apply pistons are a know weak point of early 4L80E transmissions, as is the single Reverse band anchor point breaking off the inside of the transmission case (pray that didn't happen, new case is that fix) until the '96 upgrade went to a two anchor point Reverse band with two anchors cast into the transmission case.