Car failure on roadway with no warning

Could be a transmission issue or a failed drive axle. Either one would cause your symptoms. Hard to say without seeing it and looking at the drive-line to see what is/is not moving. No motion in gear and it being able to move in park means something in the final drive section, like the output to the differential or a differential gear came apart or it is even possible that one of the drive axles popped free.
What was the service you had done?

The car will be looked at by the dealer in the morning. I had my oil changed and the multi point inspection at a Honda dealership on August 7. I was not due for any major service until 135,000 miles including a transmission service. I have had my car serviced regularly and maintained by the manuals. The sound came from the back right initially from my perspective. I did have a CV boot replaced in late May. The axle was not replaced as it was a very small tear determined by the mechanic. What kind of repair is needed for a failed axle drive? Thank you for replying.

If one of the drive axles failed it is not a hard repair job. Those would be the parts the CV boots are on. It is also possible that the axle the boot was replaced on has popped free, there is a snap ring that holds them in place and it is possible that when the boot was replaced the ring cracked or failed. Did it make any type of grinding or buzzing sound when you put it in gear or just nothing other than the engine? I would expect a failed axle to make noise. If it is quiet then it could still be internal to the transmission.
You have automatic listed, is this a CVT transmission? Or the regular automatic?

There was a grinding type or popping sound shortly, but not at once when I pressed the gas after changing gears from drive to reverse. There was no noise that I noticed when I shifted from park to drive. I drove twenty miles on Saturday and made six u turns within ten minutes. I have a CVT transmission. Thank you.

Okay, with the CVT you may have a main drive chain failure, it is unfortunately a common issue with CVT transmissions. Hopefully I am wrong and it is something else but the shop should be able to tell you. The pop/grind does sound like a possible axle shaft failure (which would be better than the chain). Please let us know what they find.

The dealer replaced the axle. The CV boot was leaking grease and it was the one they fixed before.

Good to hear they found it. Not really surprised it was the same one. That is somewhat common if a boot fails. The joint can get contaminated and just tear itself apart. It is one of the reasons I will not bother replacing just a boot on an axle, plus it is usually faster and cheaper to replace the complete axle.