MID 130 PID 160 FMI 2/ MID 130 PID 161 FMI 2

2005 Volvo VNL 780
Eaton Fuller Autoshift Transmission
VIN # 4V4NC9TJ76N419663

MID 130 PID 160 FMI 2 Main shaft speed erratic
MID 130 PID 161 FMI 2 Input shaft speed erratic

Have replaced all 3 speed sensors, harness and cleaned all connectors/connections including those at batteries and still the codes come out again.

When downshifts from 6th to 5th or 3rd to 2nd transmission losses the gear and grinds and when from stop to start to roll out/drive transmission disengage everything and must unplug batteries to reboot until next time

Very stressful when towards traffic lights, general traffic, loading or unloading

Either me or mechanic cannot find reason of code popping up again

Please help
Thank you