Does it only do it once the transmission fluid is warmed up i.e. at least 20 minutes after starting from cold?
 
Before assuming that your 5HP24 has a problem there’s a couple of things to check. Like Kojack said, you can get spurious messages on the early L322s if the battery voltage is low for any reason. You’d be better getting the codes read on Testbook/T4. If it indicates a transmission output speed or sensor fault then it could be the rotary potentiometer in the transfer box motor that’s faulty rather than the transmission. Of course it could also be a transmission problem - the DTCs should give a clue.

Oh, and if all else fails :
Land Rovers For Sale - ZF 5HP24 Automatic Transmission for '02-'05 V8 - Powered by PhotoPost Classifieds :)
 
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