Foxwell are good, we have the NT 530 which is fairly comprehensive but needs a while to understand. THe trans warning issue is common, it can be caused by many things from the simple to the catastrophic! Sometimes it can be just a digital glitch....next up would be the solenoid which is prone...finally as suggested drop the sump and see if anything is sparkling in it! FIRST as Datatek always says do a thorough diagnostics check. Our used to periodically go into trans safe mode....using the Foxwell we cleared the codes and now it goes 'tranny' once a month or so...I could change the solenoid but will wait until we do the old girl's next full service. In the short term, try driving a little while in low ratio, you will notice you can easily exceed the rpm which used to trigger the trans mode, then go back to 'normal'. After that try driving a while in sport mode, again you can see that it is easily possible to go past the failure default which shows you are dealing with an electrical issue rather than the box itself, and finally IF the trans error only comes up once in a while, just pull in when it is safe to do so, turn the engine off, wait a couple of minutes and off you go! Of course I don't know the state of the box in your rr but it will be the dreaded GM 5 speed most likely and they are pigs to work on and best left alone apart from doing a gearbox fluid change every 50-80,000 miles.....I should know we have exactly the same box! Hope this helps