2000 Lexus ES 300 transmission

Can sombody please help me this is my family car I turn the car on in the morning and take off in drive 5 minuts later the transmission jusr goes blank like if it was in neutral I hit the gas nothin transmission is completely dead I shift to all gears it has even reverse every gear and nothing like if it was in neutral I shut the car off for about 30 min to an hour then fire her up put it in drive and takes off 5 to 10 min does the same thing again few things I noticed is does it if its cold or hot and I pulled the dipstick of the tranny out and noticed a white smoke comming out not a lot but just little bit also sometimes wen I shift into gear drive I hear this little like grinding noise in the transmission I play with the shifter back and forth then put it back in gear and it doesn't do it I was thinkin the wire is stretched so it won't click into gear correctly I don't know it does it sometimes not all the times