Will not drive over twenty mph in drive

It sounds like you have a problem with the transmission control module or a bad solenoid pack. Especially if you can manually shift it and have it work. There are likely codes that would point you to the problem but many of the "free" scans use a simple scan tool that cannot "talk" to the transmission controller. I would suggest taking it to a transmission shop or a good local shop and have them scan it. They can also give you an idea of costs of repairs at that time.