‘17 INT Prostar 10 speed Auto lunges forward when braking. Please help

When I apply my brakes my truck seems to fight back and keeps wanting to drive forward. It happens when I slow down to a creep (2nd gear) and when I brake it won’t brake. I’ve almost rear ended cars when stuck in bumper to bumper traffic bc the truck won’t stop when I apply brakes. Apart from that major issue I’m dealing with I’m also dealing with it not going into reverse or drive and it’ll beep at me. Sometimes it won’t get out of 2nd gear and rev high. I’ve taken it to multiple shops and no one can figure it out. I’ve even had trans work done on it. Still nothing. One shop mechanic tried to drive it into the bay and he had to force the brakes down bc the truck wasn’t stopping and nearly hit another truck. In the process of forcing the brakes down the yoke popped clean off and drive shaft fell to the floor :/
Someone please help. I’m desperate!!!!!!