Shifting into reverse or drive makes the car feel like a standard shift when you don't give it enough gas. It starts shaking and rumbling then stalls. It just started doing this a couple of days ago. I have to shift into neutral at stop signs and traffic lights. Also when I give it a little gas before shifting into drive I can make the back tires bark. Is it a sensor gone bad and which one? Intelligent Four Wheel Drive.. . Really?!

The problem may be a bad transmission speed sensor. Easy to remove and replace. If the Check Engine Light is on, check for any codes.

I would also try and change the transmission fluid--I use Mobil 1 Synthetic Multi-Vehicle ATF in all Fords I service. Ditto for the transfer case fluid.

I have a 2002 Ford Escape xls and when I put my car in D gear it only moves a little bit can't drive it in D gear, however it's fine in every other gear, can anyone tell me if it could be anything else besides the my transmission going out?

rmarshall40, check for codes. A bad Vehicle Speed Sensor (VSS) can create all kinds of issues on many Ford automatic transmissions. You can try replacing this sensor and see if it makes a difference. Also, focus on the Transmission Range Sensor (TRS) and its adjustment. If the problem persists, and if the transmission fluid has not been changed every 30,000 miles, one or more clutch packs may be shot.