Noises During Shifting problems of the 2012 Ford Fusion

If my car sits at idle for too long like stuck in traffic or waiting at a drive thru the maintenance light comes on and it will not shift. The rpms rev up but it acts like it is stuck . It won't move over a few mph. Then if you shift it into neutral it makes a loud noise and the whole car jerks like the transmission is about to fall out. I shut the car off and started it again and it will not shift right. You can floor the gas and it barely moves then it will come out of it and drive fine until you have to sit idle again. It is very dangerous and I have tried everything to fix it at multiple mechanics shops and nothing works. Have changed multiple sensors and it always seems to happen again. 07.

When new, vehicle exhibited harsh shifts from 1-2. Gradually worsened and came to include a soft 2-3 shift and a metallic friction noise in lower gears by 1000mi. Starting around 7000mi, vehicle started to shift erractially in traffic between 1-2 and 2-1, with a sudden and moderately violent lurch forwards during shifting. Vehicle was difficult to control in low-speed (primarily acceleration following any period of coasting) scenarios and required additional following distance to account for this. Vehicle became must harsher on the 1-2 shift in cold weather. By 8000-9000mi, vehicle developed slipping. This was particularly evident at lower speeds from 2-3, such as at a rolling yield below 10mph. Vehicle would momentarily lose almost all power during certain 2-3 shifts, requiring acceleration planning for intersections, to prevent sluggishness at an inopportune time. TSB 12-3-7 was applied and resulted in additional slippage in higher gears, such that climbing an onramp following a 3-4 shift was challenging, and climbing a hill at low speeds during a 2-3 shift resulted in a loss of all forward momentum.