Trans Codes 31 36 3B

[PR1AWRet]

2002 X5 4.4i with all options except 4 corner air ride

Using Icarsoft i910 II
Trans is throwing Codes
31-Gear monitoring
36-Gear monitoring 4
3B-Stall Speed monitoring

DME
C9 DMTL Heating

It's in limp mode. I checked the 2 front O2 sensors and they are reading good. For the rear, bank 1 is switching a lot slower than bank 2. Bank 1 voltage is .32V - .54, Bank 2 is the same voltage just quicker at doing it.
I erased the C9 and it did not come back with the engine running for 30 minutes. Voltages stayed the same.

I was going onto a off ramp and was kicking it down to pass another car but it didn't. Noticed a sluggish feeling and the Trans Failsafe Program popped on. Drove it to the house a mile away in limp mode. Numerous attempts to move the vehicle but stays in limp mode. Reverse works perfectly.

Looking for suggestions what it might be.