Just an FYI, that's pretty much how ours acted. It gave me a little trouble as we were leaving a park, not wanting to shift out of first. When I pulled over out of the way, it wouldn't even go to neutral until I shut the engine off, then restarted it to reset everything. At that point it was fine. I was pretty proud of myself for thinking to do that. We drove it 300 miles that day, moving to our next stop, acting completely normal, not missing a beat or giving any signs of impending doom. Leaving that next park though, way out in the middle of nowhere, it did the same thing as we were leaving - only this time it would not reset.....
Keep that trouble code handy. You may want to have it for reference in case you experience the same thing? If it throws that same code again, safe bet when you track it down you'll have your issue nailed?
Nothing like the frustration of tracking down an erratic problem....
1997 37' HR Endeavor, 275hp Cat, Freightliner
03 CR-V Blue Ox, Ready Brake