I think my transmission is going out...i chked the transmission fluid in it and the fluid was on the warm line

i also chked my oil and it was all dark and thick like...and was drippin off the stick...the van will go into drive but not reverse..theres also a tappin noise sounds like its comin from the motor...is that normal?...it all started when i was drivin down the highway and it felt like it was going to die and when i put my foot on the gas it would make this roaring sound and wouldnt go..so i pulled over and a few mins later i tried again and it would let me drive a few ft and then stop again..and it will not go into reverse but will go into drive for a few ft..its a 94 plymouth voyager...can someone please tell me what is wrong with my van..and is your tranmission fluid supposed to be like a reddish cherry lookin color?