My buddy got stuck in snow/mud (rocking back n forth), I plowed/salted the truck with no brakes (reason unknown) for 10 hours... couldn't switch gears at end without accelerating (transmission)??????

mmmm....sounds like multiple problems...was going to suggest the U-joints have fallen apart....on account I'm from Wisconsin previously and have experienced exactly this....why couldn't you have AAA pull you out...sheesh after ONE hour I'd have given up and done this~ No brakes because all the hydraulic fluid's on the ground now or because the vacuum source has fallen off for "limited braking"....the automatic transmission linkage may have fallen off or the transmission mounts are compromized~ have the shop take it up in the air for an inspection of the moving parts....please~

Never, never rock for long periods an automatic car in the snow, you'll end up burning the clutches. After a few tries you should stop as this heats up the trans. To do it for hours is mindless as you are digging yourself further by melting snow/ice with friction and heat from tire.