It appears you have a Forward Clutch FAILURE. Replace the trans after you get it diagnosed and verified by a professional technician. By the way, do you have a Check Engine light? If so, what is the diagnostic code? The dealership can scan the system and find any codes which may have been stored in the TCM (Transmission Control Module). If there were any 'Incorrect Gear Ratio" codes, it's most probably the trans itself.
Had the same problem it was the tcu fuse that blew
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