2002 Transmission Issues

Hi guys, my 4runner won't go into gear. It threw a transmission solenoid code which I was delighted and changed the solenoids. The fluid was black and smelled burnt but no metal bits in the transmission. I changed the solenoids and the fluid and the car still won't go into gear. It will go forward in 4wd hi but won't do anything else. if I put it in neutral it goes forward. Does anyone have any idea what I could try next? I appreciate the input alos

 

just throwing this out there, is the neutral safety switch adjusted correctly?

 

So that I follow what is being said ... Does the transmission shift OK (all 4 speeds & reverse) at 4WD hiand it is the 2WD mode where it does not shift? What about L4? If so, it sounds like an electrical signal issue as opposed something being wrong with the transmission. Is the replacement solenoid a Toyota OEM part and the correct one for the model? If yes, this rules out the part itself. There are position switches on the body of transmission could be checked but trouble shooting them requires access to the ECM, I believe.