Sounds like the TCM, or the linkage itself. When mine strated shifting erratically, MB replaced the electronics - TCM, conductor plate, fluid and filter, before figuring out a loose screw where the linkage met the trans was the cause. The position of the shifter, within a millimeter or 2, is absolutely crucial to driveability. Someone more knowledgeable can tell you if the codes point to a definite cause. This was my experience.

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former: 83 300D, 97 C230, 93 400E

current: 08 C300 Luxury , 92 500SL