97 S420 Transmission Trouble

[hpf1]

Hi guys,
I have searched the threads and can not find anything similar to this. Any thoughts of what the problem might be. The check engine light came on and the car went into limp mode. I took it to an Indy and he read the codes and said that there was something going on with the transmission.

He cleared the codes and said to drive it home and bring it back for him to next week to read the codes again and do a full diagnostic on it. Went home and the tranny problems became noticeable. Slight lag from a stop light. Put the car in reverse and nothing, then into drive and nothing (no tranny engagement). Turned the car off and restarted the car and was able to put into reverse and drive. Parked the car in garage. The car has 187k miles.

Thanks for the help.
Tom