02 Honda Odyssey van does this mean I need a new transmission? HELP!

I believe your age of Honda minivan had a number of transmission related problems. Fortunately, many people have had the problems repaired or transmission replaced for free by Honda under a ‘goodwill’ warranty. It wouldn’t hurt to look up the symptoms of a faulty Odyssey transmission, and if it is similar to what you’re experiencing, you might get it repaired by Honda with no cost to you.