IT sounds like the transmission has failed. Check the fuse in the fuse box and look to see if the fuse to the transmission has blown. Check the transmission fluid level and condition of the fluid, what you described sounds like the Torque Converter did not unlock and now will not lock up. Most likely it's going to be a electrical problem since you only have 42K miles on it un-less you have been running it hard and may have broke something mechanical. Good luck and keep me posted.
Check Trans Fluid, if smells burnt & colored dark brown or black, Transmission is probably Toast. Check the CV Axles to make sure one didn't pop loose. A single axle gone will cause remaining axle to remain still as Transmission gears spin freely.
REPUTABLE shop or Dealer
At a guess around $2k for a Dealer Trans Asy.
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