i have a 06 TL currently at 156k miles. When i drive it i smell burning transmission fluid, it be slipping when accelerating, D light starts to blink after 4-5 minutes into driving, leaking transmission fluid and whining noise. i put my obd reader in and the transmission codes i received was P0873 (4th pressure SW circuit high), P0757 (Shift solenoid valve B stuck ON), and P0776 (Clutch pressure control solenoid valve stuck OFF)

 

You have serious problems and make it worse by driving it.
Start saving your pennies.
There are plenty of threads on this forum dealing with auto transmissions. Scroll through a couple.

The FIRST thing you need to do is completely replace your burnt fluid with a 3X3 (look it up) and see where that gets you.

 

1. drain and fill, asap.
2. replace both pressure switches
3. clean solenoids under intake.
4. another drain and fill.

the whining noise is your torque converter being starved because of low oil pressure. slippage is also caused by low oil pressure. drain and flush may help but if the screens inside the valve body are clogged then theres no hope. the above can only help though.