Oracle UPDATE syntax with JOIN and WHERE clause

I need to update one of my tables, and can't seem to get the syntax right. I've tried a 4 different approaches, but not having any luck.  Any help would be greatly appreciated.
Attempt #1: Error: SQL command not properly ended
UPDATE TESTDTA.F4941
SET TESTDTA.F4941.RSDSTN=TESTDTA.F4981.FHRTDQ,TESTDTA.F4941.RSUMD1=TESTDTA.F4981.FHUOM
FROM TESTDTA.F4941
INNER JOIN TESTDTA.F4981
ON TESTDTA.F4941.RSSHPN  = TESTDTA.F4981.FHSHPN
WHERE TESTDTA.F4941.RSSHPN = 647143
AND TESTDTA.F4941.RSDSTN = 0
AND TESTDTA.F4941.RSADDJ  > 110365
AND TESTDTA.F4981.FHCGC1  = 'DIS';
Attempt #2: Error report: SQL Error: ORA-00904: "TESTDTA"."F4981"."FHUOM": invalid identifier 00904. 00000 - "%s: invalid identifier"
UPDATE (SELECT TESTDTA.F4941
FROM TESTDTA.F4941
INNER JOIN TESTDTA.F4981
ON TESTDTA.F4941.RSSHPN  = TESTDTA.F4981.FHSHPN
WHERE TESTDTA.F4941.RSSHPN = 647143
AND TESTDTA.F4941.RSDSTN = 0
AND TESTDTA.F4941.RSADDJ  > 110365
AND TESTDTA.F4981.FHCGC1  = 'DIS')
SET TESTDTA.F4941.RSDSTN=TESTDTA.F4981.FHRTDQ,TESTDTA.F4941.RSUMD1=TESTDTA.F4981.FHUOM
Attempt #3: Error report: SQL Error: ORA-00904: "TESTDTA"."F4941": invalid identifier 00904. 00000 - "%s: invalid identifier"
UPDATE (SELECT *
FROM TESTDTA.F4941
INNER JOIN TESTDTA.F4981
ON TESTDTA.F4941.RSSHPN  = TESTDTA.F4981.FHSHPN
WHERE TESTDTA.F4941.RSSHPN = 647143
AND TESTDTA.F4941.RSDSTN = 0
AND TESTDTA.F4941.RSADDJ  > 110365
AND TESTDTA.F4981.FHCGC1  = 'DIS')
SET TESTDTA.F4941.RSDSTN=TESTDTA.F4981.FHRTDQ,TESTDTA.F4941.RSUMD1=TESTDTA.F4981.FHUOM;
Attempt #4: Error: ORA-00925: missing INTO keyword 00925. 00000 - "missing INTO keyword"
MERGE TESTDTA.F4941
USING TESTDTA.F4981
ON (TESTDTA.F4941.RSSHPN  = TESTDTA.F4981.FHSHPN
AND TESTDTA.F4941.RSSHPN = 647143
AND TESTDTA.F4941.RSDSTN = 0
AND TESTDTA.F4941.RSADDJ  > 110365
AND TESTDTA.F4981.FHCGC1  = 'DIS'
WHEN MATCHED THEN
UPDATE SET TESTDTA.F4941.RSDSTN=TESTDTA.F4981.FHRTDQ
   ,TESTDTA.F4941.RSUMD1=TESTDTA.F4981.FHUOM;

thank you for the attempt, but I get this error trying your method...
Error report:
SQL Error: ORA-01779: cannot modify a column which maps to a non key-preserved table
01779. 00000 -  "cannot modify a column which maps to a non key-preserved table"
*Cause:    An attempt was made to insert or update columns of a join view which
           map to a non-key-preserved table.
*Action:   Modify the underlying base tables directly.
as for the background of what I'm trying to...
I have 2 tables, one that has shipments with no miles (F4941 / Routing Steps), and another that does have miles (F4981 / Freight Audit History).
I want to update the miles & UnitOfMeasure columns for all shipments in the F4941 that currently have 0 miles with the miles found in the F4981 which are connected by Shipment number.  Here's my same script, with simpler naming.
UPDATE RoutingSteps
SET RoutingSteps.Miles=FreightAuditHistory.Miles,RoutingSteps.UnitOfMeasure=FreightAuditHistory.UnitOfMeasure
FROM RoutingSteps
INNER JOIN FreightAuditHistory
ON RoutingSteps.ShipmentNumber  = FreightAuditHistory.ShipmentNumber
WHERE RoutingSteps.ShipmentNumber = 647143
AND RoutingSteps.Miles = 0
AND RoutingSteps.ShipmentDate  > 110365
AND FreightAuditHistory.Category  = 'DIS';
hope this helps visualize my intent

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