Need a new transmission. For a 10 year old vehicle with +150,000 miles on it. It may be time to euthanize.
Update: Refreshing honesty from the guy who would make money if he did the repairs/replace - don't. The cost verses the worth of the vehicle isn't worth it. It's still drivable, but has no overdrive. It will pass inspection. Don't be jumping out in front of traffic. Don't be doing serious mountain driving. Next year, when I have access to my money pot without the severe tax implications of this year, deal with it.