2006 hyundai sante fe wont go in gear, just revs up and makes a fully grinding sound when I put it back in parka It was parked on an incline with the emergency brake engaged. Put the car in reverse and backed it out on the street and when I put it in drive it just revved up and it is the same for all gears. When I put the car back in Park it made a strange grinding sound. I checked the trans fluid and it is full. Any ideas?