transmission

I have a 2004 great engine been well maintained
second owner mostly highway miles but the engines
has 208000 miles and now my transmission is acting
strange long story short got in it back out the drive
put it in drive to go to the reved up then jumped in
drive i ignored it had my bitching pregnant wife
having cravings got to the parked went to leave it
jerked in drive after having to wait 5 minutes so i
got back home left the car running ran inside came
out backed up no issues went to drive does nothing
but rev up i love my car can some help me save my
VICTORIA please