Why won't my transmission change gears and do it have a modulator

My transmisson wont change gears it was hesitant but changed all gears, I changed the transmission fluid and filter, it was changing gears a little hesitation, but know the rpm, s go up and it dont wanna change gears but it moves gradually, so now I wont leave the drive way, in reverse it works normal I ran an obd2 scan and it gave me a few codes but I am not sure I understand if I checked the sensors correctly and dont understand how to check the egr valve, and if it have any relays or which ones