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Same thing happened to me a few months ago...
Was downshifting using the DCT shift lever on the freeway at night from 6->5 and got that alarm. Car still shifted on it's own, but paddles and lever weren't working. Limped home and parked her overnight. Next morning, error was gone and DCT was back to normal. I had it checked out at the dealer and they had to replace a faulty module. Was a pretty quick fix. Good luck!!!
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