Sunshine Lady

can someone help me out? i have a 2001 Lexus Rx300. i was driving & all of a sudden my truck started making a noise & reduced speed & wouldnt allow me to go over 20,so shifted to neutral & pulled over i then shifted to drive & the truck made a loud noise while making the whole truck shake,so i switched to other gears & it did the same thing,ecept for when it was in neutral. After i got my truck towed home, i crunk it up & every gear is now reverse still along with...