I drove my car in part neutral and drive. Now it will not go into reverse. Did I mess up my car?

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I drove my car in part neutral and drive. I did not notice it until I got off the highway about 10 miles from home. After I put the car in full drive the car would do a quickly slow down when I let off the gas. It almost felt as if the brake was being applied. After about 2 miles this stopped and resumed to normal. I then noticed after I pulled into the gas station that my car would not go into reverse. When I shift to reverse it acts as though it is in neutral and from neutral on up they all go into drive. I have a 2004 Ford Expedition. Did I mess up my car?