That's a good sign.
I used to run a few major brand trans. shops and usually when a transmission was "slipping" that is the clutch plates or bands weren't fully engaging,the fluid would turn brownish and develop a "burnt" smell from the overheated and deteriorated friction material. At that stage the trans.was usually toast. Which brings up my first recommendation;
Don't drive it like that. It can do a lot of harm to drive even a short distance with the trans malfunctioning the way you describe.
I'm not up on most of these newer transmissions but some of the old concepts still hold. You should check the filter to see if it's clogged and at that time you can also check the bottom of the pan for EXCESSIVE metal and friction material. I say excessive because there will always be SOME of these present and there will always be a transmission shop somewhere that points to this residue in the pan and declares that you need a very costly "rebuilt" unit, which may not be the case at all.
I wish I knew more about your specific unit but I do think you should take it (tow it) to a good shop (I wouldn't use AAMCO or other big chains that are pressured from above to get a high % of people sold major repairs) and get a diagnosis. If AAMCO offers a free one still,use it but DON'T let then dismantle it or do an "inspection". They used to have a free "multi-check" but some of them now charge for this.