Transmission problem, speedo not working, ABS light on

First the ABS light came on and the
service brake system message would
appear. It didn't stay on continuously. It
would only come on randomly. A week
or so later the speedo stopped
working, It stays on zero, and the
transmission started acting up.
Sometimes, not always, When I shift
from park to reverse it makes a very
loud grinding noise and does not go
into reverse. If I shift it back to park
and then back into reverse again it will
then go into reverse and makes no
grinding noise. When driving it shifts
really hard through all gears. I just
recently inherited this truck from my
father. He hasn't ever had any
problems like this with it before. It has
170,000 miles on it. I hope somebody
can help me figure this out!!