'00 Sonata, no reverse... HELP
 

I have a 2000 sonata and today I lost reverse at a parking lot about 15 miles from home. I decided to attempt to get it home and did so with just a few moments of weird shifting in forward. Got home... still no reverse. Upon checking the dipstick, I found it a little high so I pulled the plug and brought the fluid level into range, but still no reverse. I decided to check the engine codes and found P0755, P0760 and P0765. The first is "Shift Solenoid B Malfunction", the sacond is "Shift Solenoid C Malfunction" and the third is "Shift Solenoid D Malfunction".

Any ideas? Does anyone know what transmission I have or how to determine which I have? Or where this "Solenoid" is located?

Thanks in advance.