2002 Ford Taurus car died while drivin it

CHECK TRANNY FLUIDS
check front CV axles
suspect tranny failure

i check the fluid and it was past the full mark. and theres a part on the trans that the shifter cable connects to called a transmission range senor. i back probed it and the test light did not light. could the trs cause it not to shift out of park?

You lost me here is it stuck in park ?
check for brake light when stepped on brake paddle

sorry i should have worded that better. would the trs cause the the trans to stay in park even though you can shift through the gears? i back probed the sensor and the test light didnt light up.

The switch may cause some problem but no of it will not allow it to shift
best way to check if the shifter cable and switch working
do this quick check
place the shifter in R or in D and try to start
if it start then you have a issue in the shifter cable and need to check it
also place the shifter in N and it should start
place the shifter in park try and push the car dose it roll few feet and if so

suspect and check drive axles (CV axle )

if all pass the test and you can start the engine and place the shifter in drive and no movement I would suspect internal tranny failure