sbjust

I have a 2004 RX330 front wheel drive with 125,000 miles. I had an occasional issue with the transmission shifting hard. The other day I had driven about 100 miles when the transmission started shifting rough and there was a burning smell. My husband stopped and checked the transmission fluid which was full and looked clean. Trying to drive the car the 4 miles to our house the transmission pretty much quit. Even in low the engine revved but the car didn't want to move. It didn't have enough power to pull into our driveway. My husband was able to back the car into our driveway. The next day we started the car and while there was a clunk going into gear but we were able to pull it into the garage. There are no codes showing up. Does anybody have any suggestions?