many thanks for the advice. Although this is a ZF box the video gave me an idea of where the conductor plate and what it does. I had ATF fluid and filter changed at a Jeep off road specialist so would hope they used the correct grade of ATF and a decent filter as they do some high end work.If as you say this box is a merc box?
Then the symptoms are a defective conductor plate which hold speed sensors which determine gear changes
This plate can be bought as a kit and it comprise of plate ..multipin connector .gasket and filter.
The kit can even be got off Ebay as it's such a common part to be bought.utube will even guide you through fitting it as it's not rocket science.
Some of the suggestions you are getting are over complicating it and quite frankly absurd.
Obviously this only applies if your ATF fluid and filter is in good order in the first place.
I also recently had an engine fault light come on (side view of engine in yellow) which has come on before and garage said dont worry until next service. So I will report the fault and history back to the garage and get hem to confirm ATF/Filter okay. Run a diagnostic check of the control modules as suggested and consider conductor plate fault on my type/age of vehicle.
On occasion the auto gear change has been a bit clunky so will give all the evidence back to the garage. Car only done 220,00km and apart from my trailer towing has had an easy life. First 100k with EK pilot who really looked after the car then I was second owner.