I agree with RobertH, it looks a gear postion sensor failure. I concur with Tom Foolery, buy a generic code reader and the diagnostic adapter at least that will give you a more educated guess. The relearn is what the dealers do when they can't replicate the problem, then it happens again. Then when buying a new gear position sensor look into getting the cooling duct for the sensor, I believe there was a recall or a thread on here with all the part number and pictures to help with install. Pretty straightforward.