Eaton ultrashift dm3.

Got a mack with a eaton ultrashift dm3.
Occasionally when coming to a stop the truck will get stuck into gear.
The trans will stick into a lower gear set a fault then its dead in the water it will not move. After the trucks sits and the computer is reset it will show natural but will start pulling once you hit the fuel.
I don't have the code number here but it was saying speed signals show its in gear when neutral is expected.
Talked to eaton and sent them the service ranger report. But they are not sure the issue.
Seems as a machanical fault like the xy shifter. Any help in the right direction is appreciated

 

That was what I was thinking, it's such a random problem and when it happens the freeze frame data eaton doesn't know which part could be bad.
Start with the cheapest most problematic parts