could this be my tranny failure?

i have 02 tls, 210k miles. my engine light is lit up, every time i started the engine and shift to drive there is a delay, drive for ~ 5 mins and the gear would disengage and the rpm will rev up, i then pull over and shut off the engine for a few minute then it will allow me to go for another 5 minutes. could this be sign of tranny failure? if so how much do you pay for to replace the tranny?

thank you so much for any advice in advance,.