Test-drive the vehicle in D position/mode, and keep the vehicle speed at speeds over 12 mph (20 km/h) for at least 10 seconds. Slow down, and stop the wheels.
Intermittent failure, the system is OK at this time. Check for poor connections and loose terminals between the output shaft (countershaft) speed sensor and the PCM. If the freeze data/on-board snapshot of this DTC is recorded, try to reproduce the failure under the same conditions with the freeze data/on-board snapshot.?