Welcome to the forum! You might see if you can get a mod to move this topic over to the 5th gen subforum.
How many miles on it? Have you been replacing the PTU fluid on regular intervals?
Some people suggest replacing PTU oil every 30K mi, or more often than that in severe duty use. That's what it seems like to me, a cooked PTU giving out, so I'd drain the fluid and examine it for a metallic color or particles, or if it's never been changed then it might be like mud by now.
If it looks okay, refill with new fluid. Check your manual for capacity, later 5th gens held 18oz, 75W-140 synthetic gear lube.
If it doesn't look okay, might try replacing the fluid anyway but by then it's likely to need at least the PTU replaced or rebuilt. Might have also damaged the spline on the transmission. I would limit driving it direct to a shop if you don't DIY the work, even if you don't put it in reverse.