it sounds like there is too much particles that's probably jamming the gears inside that's causing this.
You definitely need to flush the fluid and replace the filter. Flushing the fluid will also remove all unnecessary particles which flew inside while driving. Also have your transmission seal inspected for any leaks, this could be a major repair...
I know transmission filter can be around $90, not sure about fluid I think $25. But the seal is almost $600.
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