Shudder at highway speed, then sluggish acceleration and shifting

I was driving home from Walmart and the gas station last night and I was on a 50mph highway when all of a sudden at speed the car lurched and shuddered a few times. I was about to take a left onto another road, when I braked to make my turn and noticed a loss of power to the car (it didn't stall but the engine cut partial power). After turning, I accelerated, lurched forward and then noticed sluggish acceleration and more shuddering. Also the car was a lot louder accelerating and it would sound worse I I past 40MPH. I came up to the first stop sign on the road, and after slowly easing on the gas pedal (and lurching forward again), I couldn't accelerate at a normal pace - The car was not gaining speed like before and then the noise of the shifting transmission sounded worse (This is an Automatic car). At this same time all of a sudden the check engine light came on, and the car shuddered and lurched forward. I was out in the middle of nowhere a bit after midnight, and it was about 36 degrees outside, so I slowly continued on hoping I could get home (only 3 and a half miles). I came up on the next stop sign and realized that if I came to a complete stop I risked losing power completely and being stranded, so I braked and slowly rolled through the 3 remaining stop signs with my hazards on. Finally a few minutes later I got home and as I slowed to a stop at my house the car was shaking at idle and making a much different noise than its normal idling noise.

Being late and not wanting to deal with it in the dark and 36 degree weather, I am waiting till morning (its 3:40AM now) but would like to see if anyone has an idea as to what it might be.

I've been searching on Google to see if I could get any idea as to what it is, but without getting to investigate its hard. My best guesses are either the catalytic converter, torque converter, or something having to do with the engine (not likely, just had 60,000 maintenance done under a month ago and all spark plugs replaced, all fluids changed, timing belt replaced, all other belts inspected/replaced). The only other guess I have is the early stages of full on transmission failure and I hope to God thats not the case.

Any help is appreciated! I will update with any relevant details