Transmission Eaton fuller ultrashift 2 jumping Bucking when put in gear

I have a pete 587 with an Ultrashift 2. The first issue I had was in Ohio I was going uphill and it felt like the trasmission disengaged It was going 60 miles an hour steady all of a sudden it was like i was accelerating while in neutral the rpm needle moved up but the mph started dropping then it caught on and drove normal for the next few weeks everyonce in a while it would do that. my mechanic said the clutch is slipping.
A week later i was driving 45mph and the light change to yellow and the idiot i front of me that couldve kep going decided to slam on his brakes I had to stop really fast caused the transmission service light to go on. I was right next to a peterbilt so I was able to put it in gear and drive into their lot. after the diag they said the clutch was still at 50% life and all i needed was an actuator it had gone bad and also my turbo actuator had a code. so they replaced both actuators and sent me on my way.
3 weeks later I started having transmission issues again, I would put it in D and it would just beep and flashing service light. I would turn the truck off for a few mins and it would work normal again, I took it to Peterbilt and they said it just needed to be reprogramed. worked for another week and same thing Neutral to D and would not work flashing service light, even if I stopped at a light, it would start flashing service and not go into gear. took it to a shop and they reprogrammed it again that's when the bucking jumping started intermittently.
When I put in D or R from neutral It felt like it would try to take off, it would jump violently making my whole cab move, and also accelerating from a stop it would jump hard neutral to reverse would do the same thing, but it only happened every once in a while. I took it back to the dealer and they opened my transmission and told me my inertia brake was broken and clutch had to be replaced. after that the truck worked beautifully for 3 weeks. then one morning I turn my truck on service light again... I turned the key on n off a few times and it showed me 64 where the gear is on the screen. i turn the truck off and on and it went away, then the jumping started again intermittently. I would barely touch the accelerator and it jumps really hard, Neutral to D or R it jumps hard. Does anyone have any Idea what could be causing this Ive already spent most of my maintenance funds on this over 9k and still having this issue.

 

I just spoke to the mechanic I use and he said its the speed sensors.