Ok- Posting for anyone following this thread. I took it to a transmission specialist and he said mechanically it is fine. He reset the control modules and said it ran good.
I drove it home and got the DISC Control error. :-(

 

DSC? As in dynamic stability control? Good news, tis something else. Bad news, tis something else. Do you have a code on this one?

 

Yeah C1155 which I believe is the left front wheel sensor.

 

Likely the 'link-harness'.

bob

 

Was gonna say wheel speed sensor. Most common DSC fault seems to be that and it can also affect transmission decisions.

First thing is to remove and clean it. Videos of how to do that on YouTube.
If that doesn't help, check all wiring for damage and then try swapping sensors around to see if the fault follows the sensor. If so, order a replacement.

 

That is good news. Probably a broken wire, common, easily fixed.

 

Thanks guys! I will clean and test it and let you know what happens. :-)

 

Final update. I cleaned the speed sensors and switched the front ones. Ran it all weekend with no problems!
Thanks to all!

 

I have been cleaning all four wheel speed sensors at every oil & filter change / tire rotation (6,000-mile intervals) since March 2013. No DSC warning light issues since beginning the cleaning routine. You do need to check the wiring harnesses for cracks and splits whenever the wheels are off the car, though....