This has been happening to me. Yesterday it started and I just pulled to the shoulder of the freeway and restarted the engine. Error went away, car shifted normally, fault message went away. It happened again today, this time I restarted it and everything went away but when I started to drive you can tell the transmission was in the wrong gear. Restarted engine about 30 times, shifting from park to drive to reverse and all the above to no avail. Each shift was hard and shook the car. From park to reverse was the worst but drive perfectly fine one there. But driving in reverse down the freeway probably isn't a good idea. I ended up being towed off the freeway. The truck didn't park me in a legal place. Decided to drive 20 yards to a legal parking space. While driving I revved to about 2500 rpm and 15 mph and the transmission shifted to normal. Turned engine of and back on, went to work and went to the bar afterwards, which is where inn at now, and no problems since.
2008 edge SEL, 108000 miles
