2021 “Transmission Problem. See Manual” message

Hey everyone. I’m on my 2nd Passport after my first was lemoned and I got this message back in the winter. Took it to the dealer and they said no codes were stored and thought it may have been a fluke issue. Fast forward to today. I put it in reverse to back out of a parking spot and when I push the accelerator, it rolls forward into the curb and displays the same message for a second. Every time it goes to neutral and I have to shift again. I noticed this seems to have been an issue in the 2019 model year? Did anyone have this issue and a fix? If so, what was the resolution?