I have problems with my transmission

Out of nowhere it started to fail in Drive and only takes Parking, Reverse and Neutral. On the scanner I got the code 0720 - output speed sensor and I already changed it along with the transmission filter. When I tried it the car felt lazy and when I accelerated it a little more it made a squealing noise and ran fine and when the revs dropped it became lazy again and I had to accelerate it again to make it work as it was supposed to.