Transmission won't engage :(

[Volvodog77]

Hello...what a great site! A valuable resource
For all of us who love our Volvos.
I will cut to the chase:
The other day I was at a green light...in my
'03 xc70 (254,000km).I pressed on the gas pedal...the rpm
Went up, though the car would not go,
The selector was in Drive...
I placed selector into Park, turned the ignition off, waited a few seconds, and re-started it,
Put car in Gear D, and this time the transmission
did engage, I was able to get it home, though
It was slipping...the TSR light has been on for awhile...and Reverse has been finicky since I bought the car 2 years ago...I did a flush last year, (Gibbon's Method)
This is the first time the transmission has done this...does anyone have any ideas on what could cause this to happen...and possible solutions to fix it...
Thanks for Reading.

[MadeInJapan]

Check the level...these cars will buck and do strange things and not engage gears if the fluid is low.

[oragex]

As above, the easiest is to check the level...30+ min. driving, flat surface, engine at idle in P, need to see a thick smear at the hot mark.
Also check engine mounts and axle shaft/end bolt

[Volvodog77]

Hi thanks for the replies...I did a gibbons flush with 11 liters of t
And still no results...another symptom I didn't mention earlier was I could smell burning transmission fluid when trying to reverse...any help on this would be this would be great...thinking sadly it may be to time replace the transmission or say bye to the car

[abscate]

You can source a used transmission a lot cheaper than a new car if the rest runs well.

Drop the ATF out of the pan and evaluate for burned stuff to get an idea of what's going on in that trans