2000 Automatic Chevy S10 4x4 Stopped While Driving

My husband was driving his 2000 S10 when it
suddenly stopped. He didn't hit anything, but said
that's what it felt like when he stopped. He checked
and refilled transmission fluid on the
recommendation of a friend. He was able to get it
started in 4WD and drive it about 15 miles toward
home before it happened again. He drove in 4WD
because the truck wouldn't run and was making a
grinding noise when he attempted 2WD. He was then
towed the rest of the way home. The vehicle had been
slow to start and not running very smoothly over the
last few weeks. The battery was replaced Spring
2022. Can anyone point us in the right direction?