Thank you for the additional information. When the transmission clutch packs do not operate correctly due to either slippage or loss of pressure this fault will set. With dark fluid and a slight burnt smell it means the transmission needs replacement or an over haul. The problem with getting an over haul is that not all shops know how to check each component in the transmission correctly and you can end up with the same problem.
I hunted down some additional information on that fault and it appears a common problem with bushing for the input shaft wears out and can cause this fault. The entire shaft would have to be replaced as well during the over haul of the transmission. Also the seal in the torque converter should be checked to see if there is any damage in the seal for the torque converter.
Unfortunately this is not an inexpensive repair either way. The problem will persist until the transmission is fixed or replaced but often you can extend the life of the vehicle by doing the key cycling to temporarily clear the code to allow normal driving at time.
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