"Transmission Fault" issue can encompass a lot of little things - a message that is a catch all for issues that the built-in message minder won't tell you - it requires a ODB scanner tool to "catch" the reason in action - live data monitoring - so the code scanner you'll need is not cheap but you can borrow these tools from your local retail auto parts store.
In my instances of getting such a message, you feel the herky-jerky bottoming out accelerator dead pedal then it comes alive and roars off into the night...is one type of symptom.
But there are more clues as to how to localize this problem.
Does it occur when the engine is cold - as in not fully warmed up?
Drivability - ok when it's in the first 10 minutes - but stop-start city traffic then seems to cause the condition?
When it seems to be random, these types of code conditions are the hardest to track down, but not impossible.
What is odd, is that the codes get "tell-tale" on the console, but go away.
These conditions - are electrical-fault caused.
Many reasons but usually an interrupting condition - battery power that should be there to do this moment - but it now doesn't happen - kind of thing. So, I'd look into corroded connections in and around the battery, it's tray and the TCM connector itself - the battery cable goes by this housing - the main ground return for the engine and starter is that cable. So if the wiring bounces - so can that fault - it shows up but the diagnostics it runs later - doesn't show again.
This may relate to the TCM needing power - so the system defaults to that message, so how is the EPAS (Electrically Powered Assisted Steering) This system alone, sits just in front of you - it's in the steering wheel assembly - and just behind that dash.
It can take up to 60 Amps to pull off that battery terminal block to move the wheels when you're not moving - takes a lot of torque to do that - I'll let you guess the rest...
It can also be caused by a shared system that pulls power when the TCM needs it too, so upon acceleration or a quick turn, lights on, Brakes - the AC and the Heated seats? Any system pulling power at that time - the TCM pulls power to shift, finds none - so the power drops for that instant - that is a sign of required cleaning of electrical contacts and that may take time and effort but - this drop - fault - won't show until later and no memory of it - usually means the battery, electrical and the wiring are all suspects in this strange mystery...