I have a 1994 Dodge intrepid I recently

Have a qualified transmission shop rebuild it be sure to flush your cooler lines flushed before you install the rebuilt trans.

You have a failed transmission, it will need to be torn down and inspected to see exactly what went wrong internally.

Start with checking you transmission solenoid under the hood. These do go bad often. But also have you serviced the transmission regular this is vital to know. Speed sensors in the trans need to pick up movement also in order to know what to do these are called VSS sensors Vehicle Speed Sensors in these you have input and output. These should be removed and cleaned and tested for resistance to see if it is within range. If you need further help please ask Remember to rate my solution this is how i earn my achievements here on FixYa. Thanks in advance.

Check the transmission sensor

You may as well just go to a trans shop
and ask to have the trans rebuilt

when in auto shift mode you place gear selector in auto shift and as you drive you are in control of upshifting and down shifting, when you want to shift up you slide shifter to the right and to down shift you slide shifter to the left, but also know that the vehicle will up shift on its own if rps are to high and will not downshift all the way back to first, and try not to take off in higher gears that nwill burn the transmission

Sounds like the trans is slipping.

I believe that the cable has to be adjusted. Most cases, the cable adjustment is off. Worst case senario, is the bushing in tranny is worn out.

Sounds like trans range switch. It is stuck in 2nd because it has a trans code in the tcm. Chrysler calls this (limp-in mode). You need to scan the tcm for codes, It likely has a code for the range switch. Hope this helps. By the way the range switch is also the neutral safety switch for the starter.

The trans module put the trans into limp in (2nd gear) any time it detects a problem. It could be electrical or mechanical. You'll have to have some put a scanner on it to check it out.