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ZF 5HP24 Revs in Drive then bangs into 3rd Trans Failsafe Prog

I was driving along yesterday, come to a stop sign, rolling through go to hit the gas, engine revs then bang! slamed into gear and the "Trans Failsafe Prog" comes up. Drove it 10mile home, tested it with my scanner, came back with 3B code for a stall speed sensor. I removed the sump pan and tested the two speed sensors for resistance, checked out OK. Has anyone else had this issue? It was so random, I had been driving for 40 miles then all of a sudden on my way home it let loose?
 
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