Need help with OBD2 error

[ACE]

I'm getting an occasional P1701 error in a 156 V6 Auto.
MES suggests the error relates to "Engine torque"
When it occurs, it coincides with BOTH the engine management light AND the gear box warning light illuminating on the dash and goes into limp home mode!

The web says P1701 relates to a faulty reverse gear selector.
But it only seems to occur when in forward motion and mostly at speed but sometimes when stationary in "Park".

Has anyone any experience of this error or what might cause it?

[Godspeed Garage]

Hi,
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https://www.patreon.com/m/3225912/posts

Regards Joe