[DrFerry]

I suggest trying and testing all of the various S drive and auto shift modes. Start with S1 (snow mode), then S2 up to S5. Do the same with D1, then D2 up to D5 and see IF the code goes away in the softer shift modes. The reason I suggest this test is incase the DCT clutch pack discs are worn and are somehow interfering with shifting.

There are two clutch baskets inside the DCT. One for odd numbered gears (1, 3, 5, 7) and one for even numbered gears (2, 4, 6). The DCT DME 'pre-selects' the next gear it thinks you want BUT the clutches have to engage the basket. There is some clutch slip and as the discs wear the DCT 'adapts' to the thinner (worn) discs.

Anyway, it's worth a try to determine if shift program alters the code and problem manifestation as well as determining if a new clutch might be needed.