Transmission Slip Out Of Gear problems of the 1998 Honda CR-V

Transmission slips violently out of gear once the engine is warm up, and the rpm's go over 2700 occurs during acceleration ( from a stop or when merging/passing on the highway) and when trying to maintain speed up incline. The rapid acceleration when the car slip out of gear on the highway and especially on incline on the highway and local street send all the surrounding drivers into evasive maneuvers to avoid collision. This event occurs when the car get warmed up (after about 35-40 minutes of driving. Car is being send to a an auto repair shop for repair awaiting the final verdict to charge me about $ 6000 for a brand new transmission. As far as a safety concerned my car slipped out of gear on my way to work on fwy 101 northbound (wooland hill / topanga)going up an incline in heavy rush hour morning traffic moving at approx 60-70 mph. Several cars had to drive onto the shoulder and I had to go into the median grass to avoid a massive rear end collision during morning rush hour. It is disturbing though to know that is such a rampant problem with this transmission for Honda's passenger car. It will occur rapidly and without warning. My car is Honda Cr-v ex and had 210,000 miles on it.