I Have a 98 ford explorer sport (2 door). 4x4 auto V-6. Was driving home and noticed that was taking a long time to shift (rpms were reving) Stopped at red light. And when went to go had to proceed in 2 as d(overdrive) was like neutral. Once got home with it realized also did not have reverse. I never heard any grinding or clucks... when in reverse the backup lights come on. But is just like you are going from part to neutral in both reverse and drive, but will engage in 2nd and 1st. Any suggestions. Thanks in advance.

I would check fluid level first.
Check filter and debris second.