Same problem with the transmission happened to me 3 weeks ago. I got to my destination. Next day, started the car and everything was just fine.

I read somewhere that a guy had his transmission software upgraded and the problem went away. It's a difficult problem to reproduce so I'm not sure if that actually fixed it or if he's been lucky since.
I had the reprogramming recall done on my 05 last week and it included an update to the transmission software. I'll let you know if I get this problem again.