Transmission onEmergency Mode

Hi, I own a 2017 Alltrack with only 42K miles. While I was driving around 72 MPH a warning message came out . "Transmission on Emergency Mode/ No Reverse Gear". The engine started to rev up and I had to switch to Neutral and pull off the road. I shut off the engine, waited about two minutes, then started driving again. The code came back after driving around 50MPH. I pulled off the road, disconnected negative (battery), waited a few minutes, then started to drive again. Message was erarsed and I maded it safe to the nearest auto zone to check with their computer if theres was any code.
Even though there was no mesage or engine ligh on, the computer was able to read the following codes:
P0791- Intermediate shaft Speed Sensor Circuit
B1168F2- Steering Angle Sensor - No initialization.

I just don't want to think that a vehicle with only 42K miles is having transmission issues. The vehicle hasn't reach the 50K warranty, however, it has more than 5 years.
Any thoughs??

Thanks!!

Hello! What ended up happening with your Alltrack? I am having the same issue and haven’t gotten to the bottom of it. Unfortunately dealership is 2 hrs away… I love the car, 2017 with 60k but feel like shouldn’t be having transmission problems. thanks!

Same issue with my 2017! 68k miles. 2 weeks ago, running 60mph down the highway got the “Transmission in Emergency Mode, No Reverse Gear.” I had it towed directly to the dealer. Sure enough, repair call for a total transmission replacement. For a couple months prior, I had an intermittent “EPC” light. I’m going ahead with the transmission replacement. But they are currently on back-order without an estimated delivery date. Let’s keep sharing, sounds like this is a trend.

Hello, I am having this issue. Wondering if anyone found any answers before I go to the shop