01 Lexus Rx300 HELP please! STUMPED!

[Alvern]

Got code p0500 ( long story) but NVR had any issues. Replaced and checked all sensors. The car still won't engage the gears. It sounds great until u put into a gear If was tranny wouldn't we get or have gotten a code? We are stumped! No codes but the abs and p0500. We are Old disabled and really need to fix this cheaply! . We have NVR had issues!  it's our only transportation. Was going 70 down Frwy when it broke down . Has not moved yet. I took video try to post. But if anyone has any ideas? Husband just diagnosed with aneurysm and colon cancer really need figure this out. We don't have funds to have it towed to a shop. It was 300 to tow it the 20 miles insurance didn't cover to get home. So now we don't have ENUFF for rent. The medical costs and now the car we need to know what's wrong. If u got any ideas PLEASE,PLEASE ,PLEASE LET US KNO! THANK U VERY MUCH! REALLY CANT THANK YA ALL ENOUGH!!! If can't respond on this post.please email: thank u in advance!

grammyla11@gmail.com or 

akautz916@gmail.com