Gearbox Emergency Mode

Last September my Kamiq 1.5 DSG 2020reg (regularly serviced) displayed 'Gearbox in Emergency Mode'. Very near home so able to limp home. Dealer took it in and fixed it under extended warranty. All okay until a month ago when it happened again, this time far from home. Switched off the car, restarted and all back to normal and drove perfectly. Yesterday it happened again and only D2 available. Started car today, no problem, all working, no warning sign. I'll be contacting the dealer again, but has anyone else come across this. Is it just a software glitch? I'm worried that this could happen on the motorway.