transmission will not engage when put into the gear but 4x4 all works

The vehicle drove great something happened going down the road it sounded like the radiator hose come off of it but it did not gave gas it went away a week later I'm driving no problems I come to a complete stop from drive into reverse the minute the car started going backwards it started making a grinding gear cracking noise I put it in park the noise stopped I'm coming home from the holiday and all the sudden out of nowhere the back into the car sounds like it's being kicked lifted almost like something's trying to engage so I pull over because it gets crazy I didn't want to tear my car up so once I get to the side of the road by pretty into Park it doesn't seem like it completely went into Park so I turned it off turn the key halfway over and pulled it back down into drive I heard the locks engage so I put it into Park and I heard the doors unlocked wait a few minutes crank it back up when to put it into drive and it is grinding in every gear it won't go forward it won't reverse it doesn't even feel like it's going into those low and Park but when you put it into neutral you can feel it so with that with me being at a complete stop engaged for the first time my 4x4 it was 4wd high the vehicle had lifted and straightened up a German stops to tell me I need to have it in 4 Low so he tells me how to put it into 4 low and in 4hi and 4lo it'll do everything I needed to do but I don't want to tear up the 4-wheel drive in it to get it home a hundred and thirty-seven Miles Away I was told it was the linkage I was told that it was a sensor and I was also told it had everything to do with the bolts on the steering column so please help me I'm just trying to get my only car home

No gear engage like is not working