If that doesn't work the next thing I would do is take wheels off and inspect the wheel gears and drive gear for proper operation the gear should spin freely forward and resistance when spinning backwards.
After that the bushings between the axle and height selector should not be visible. The little gold thing should not be on the axle if it is it would be best to take it to a shop or disasemble with a parts diagram and put back together carefully.
If all that looks good it will probably be a transmission problem and should either disable the self drive or take it to a shop.