To start with there is nothing wrong with the ransmission
It is all electronic faults
the transmission is constant mesh so ratios are not manually changed by done by servos and solenoids
the fault code refers to the TR sensor that can be changed out , the hard shifting is probably dirty oil and the changing between ratios a problem TCM or wiring harness connections
if the transmission oil has not been changed in the last 60K miles , that would be a good place to start, then have the auto transmission professional service center where you are having the oil change done, check out the servo/ solenoids operations
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