Woe woe woe, you may have a bad wheel speed sensor since this was one of the original codes. Another area that could cause the trans failsafe is the ABS/DSC module. I just had this problem with my X5 where it was the ABS/DSC module causing the fault. My vehicle had codes for 2 wheel speed sensors. Highly unlikely both would be defective. So I used the live data on my scanner to see which wheel sensors were not reading. Switched the wheel speed sensors on the vehicle and no change in operation observed thus confirming a fault in the ABS/DSC control unit.