2002 rx 300 not going into reverse, wont move in neutral jumps forward
 

Hello all, I need some help please
my 2002 rx 300 awd stopped the other day while I was driving, it felt like if it was a manual transmission and some one had turned the key off while driving it.
It stayed running but came to a stop, I put it in park and shut it off for a minute, when i stared it back up i put it in drive and it started to take off but hten felt like a few teeth had sheared off a gear or something , jumping and jerking,
i put it in reverse and nothing

i put in neutral and tried to push and it was incredibly hard , i had to get help
at home i jacked it up, all 4 wheels off the ground
started it put in gear and the wheels tuned going forward ,
reverse, i could here the tranny go into reverse but nothing happens , wheels dont turn at all.
i put in drive i hear tranny go into drive and wheels start moving ,
i put in reverse , hear it go into reverse, the slight drop in rpm but nothing happens.

your thoughts please

oh ask some mechanic better guide you