check engine light/forward drive won't engage

i have a 2000 toyota avalon that takes 15min to warm up in order 2 engage tranny. rpm's 2 high upon acceleration and won't drive forward unless given more gas. I use Mobil1 synthetic evry 3k miles or less. hesitates 2 drive forward and funny order from vent/engine. any suggestions ? stuck in driveway

Check the fluid level. Good? Drop the tranny pan, change the filter and fluid. If you see metal particles bigger than the microscopic sludge on the magnets (if equiped), you need a rebuild.