reverse to back it make a sound and engine move little bit

Check engine light opened , when i go speed rpm not working suddenly. 1- when car go it didnt go to drive 2 and 3 so transmmition not workig

2- when i go to repair mechanic check computer and said transmition is good but the code said that i should change transmition range sensor so i change it but the light of check engine still opened so he said i should change the speed sensor as the 2 sensor work together and also i should the bottom labor of engine to stop the sound come when i make revers