While driving the transmission will not shift gears when it is needed?

The fact that when you reset the system is telling us the TIPM or PCM is going out. You can remove the PCM and send it in to be checked but I can tell you these cars had problems with the TIPM. Here is how to change the part out, also you might want to do a CAN scan. You can get a CAN scanner (Controller Area Network) which will work on most cars from Amazon.

Here is a video to show you how:

https://youtu.be/u-4syLc-ifQ

Here is a CAN scanner on Amazon for about $134.00 if you need it. They have cheaper and more professional units as well; this one is the middle of the road:

https://amzn.to/3ZYCA1P

Check out the images (below). Please let us know what happens.