Transmission?

Start with making sure you have the right amount of fluid in transmission. Is light on instrument cluster burned out to where you can’t tell if you have it in gear?

As far as I can tell fluid is good and I can put it in gear and drive it’s just going at a fraction of the speed it should be for the RPMS it’s at

Transmissions are very sensitive to not enough fluid or too much fluid. Trans fluid expands with heat and has to be checked either completely cold or at operating temperature. The dipstick has a cold and hot level for this check. Level ground and check it several times to ensure level.