Accidentally shifted into reverse using auto manual hit pot hole knocked shifter into reverse was just pulled away from home so was under or around 5 mph now it’s in limp mode and I can’t get it to shift except I to 1st and reverse

Has the Hemi motor I was told the cam was upgraded but this I am not sure this was a car from a impound yard has a clean title it was a Utah Highway Patrol car

Motor runs great