Assuming the Gear Oil is good,
Ensure your battery is producing enough Voltage and Current.
Ensure your ECU Firmware is fine (re-flash it if need be).
Perform Adaptive Gear Reset as follows:
Stop the car on the side of a long flat road stretch, switch off and wait a minute until all devices/lights are off.
Switch the ignition "ON" without starting the car and keep it "ON" while performing the following 3 steps to reset gearbox.
1- Step "fully" on the accelerator for at least 10 seconds.
2- Step on the brakes while changing between all gears "P, R, N, D, 1,2,3,4,3,2,1,D,N,R,P" for at least 20 seconds.
3- Step on the accelerator for at least 20 second.
4- Start the engine with the gear at the P position and drive the car very gently until you reach 2500 RPM. Every time the gear changes, the RPM drops, try gradually to bring it back to 2500 RPM and stay there.
You will feel the first gear changing happening around 1800 RPM, then around 2500 RPM twice. After few kilometers the adaptive Gearbox would have learnt your new driving pattern.
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