SOUND LIKE TRANSMISSION SLIPPING.CHECK TRANSMISSION FLUID LEVEL.IF TRANSMISSION FLUID LEVEL OKAY, IF IT HAS BEEN A LONG SINCE FLUID CHANGE.DO A TRANSMISSION FLUID AND FILTER CHANGE SEE IF HELPS PROBLEM.
I believe '02 rodeo's have buttons for power mode and winter mode located between the shifter and the flip up console.You may have accidentally activated winter mode which cuts power to the drive wheels for driving in ice and snow.If so look on the instrument cluster and "winter mode" will be lit in green,simply push the button again to deactivate it while in PARK.Hope this helps ,good luck.
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