2002 Chrysler Voyager Transmission Problem??

Either 2 or 3 years ago, I was coming up the expressway running 70-80 in my 2002 Chrysler Voyager. All of the sudden it felt like I was dragging a deer under the van. I got off at the next exit and pulled in and put the van in park. No deer or anything else under the van. Put it in drive and went on home, about 10 more miles. I pulled in the circular drive and put it in park. Put it in drive and it pulled forward. Put it in reverse and it would not back up. Put it in drive again and would not go forward. My son changed the transmission fluid to see if that would help. (It had helped on my 98 S10 to keep it running another couple of months.) So it sat for several months until I had to move it. My friend tried to tow it to the yard next door with it in neutral. That resulted in the chain flying back and hitting me in the hood. He jacked it up and shook the front drivers side tire. It freed up. He towed it and then every time we put it in gear, it freezes up again. You can put it in neutral and shake that front tire and it frees it up again until it is put in gear.

Any ideas? Several people told me CV Joints or Axels. I went to a shop today to talk to them and they said it sounds like Valve body in the transmission. The van has sat for a long time because I had the S10 to drive. Put a ton of money in the S10 lately and then on Friday March 13th, a Lexus plowed me up and totaled my truck. I really need the van to drive now. Sure can't buy a truck for what the insurance company is giving me.

Thanks in Advance,
Susan