Car stops on highways! ..driving about 30min over 40-50 mil/hr and transmission

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Car stops on highways! Sorry for my English ! :) ..driving about 30min over 40-50 mil/hr and transmission gets "disconnected from engine". stop on side of the road. tiptronic doesn't work. On slope parking position doesn't hold a car ! Was towed few times ! As soon as you get off towing truck - car drives again ! I dont think the problem is because it get cold when towing... I was waiting on highway mo then 1-1.5 hr in cold weather- doesn't help. After towing 4 times- it looks like it start driving when it shakes well ! (before had BAS ESP problem... with many codes, changed brake booster with switch, steering angle sensor...finally found damaged cable close to ESP module....and thought my transmission problem solved !- but not ! next highway and Suck again). In the city can drive with no problem. no any lights on a board. When car stuck and switch positions from 'P" to Drive - you can feel very light "push"..then when you move back to "P" you can hear noise .."like mechanical spinning buz". Is any advise ?