I took my kid to the store and got there fine. On the way back I had problems with the truck in forwards gears and when I got home the reverse gave in. Original trans and at 158k mi this is the first problem I had. What's going on?

If you haven't been dropping and cleaning the transmission pan, changing the filter, and refilling with Mercon V every 30,000 miles, you are likely looking at a rebuild or replacement. Clutch packs are probably shot.

Doesn't soung good if I had to guess u either have a problem with the valve body in the trans, or the forward reverse and coast clutches are roasted at that mileage it is not supprising

95 explorer, you have an aod-e transmission, not the strongest tranny ford ever built. If the trans has never been serviced you are looking at a rebuild or replace. If you reacently had a flush performed you likely have bits of the transmission filter clogging the valve body. The remedy to that could be a removal and flushing of the valve body. I reccomed getting it to a reputable transmission shop and having them take a look at it. I advise against a major national chain shop like aamco, as they will likely tell you the transmission needs to be replaced. Find a small local shop that relies on its reputation not a national advertising campaign.