having problems on my transmission on my 2000 grand Jeep Cherokee 4.0

Question

I have it on park and put it on reverse and it will not g, it just makes a grinding noise.when I shifted to drive it will only go a couple feet and it will not go,sometimes it shift to second gear.... I have to put it in park turn it off and wait for a little bit if I turn it on it would just go another couple feet and it would do the same...my check engine light comes on and I have a code p0753.....can somebody help me please and let me know what the problem is

Answer 1

P0753 Transmission 3-4 shift solenoid transmission relay circuit

Going to Park to reverse and makes a grinding noise? This is more of a internal mechanical  problem with the transmission.