Matt,
I can clear the M&S fault by shutting down including locking the vehicle with the fob, then starting the whole process again (unlock, start up etc). From memory, it is critical to put the selector into Park before shutting off the engine otherwise you will confuse the computer and cause faults like this.
I had the fault a few times when I first bought our D2a, around 2003, but had it again for the first time since only last weekend. Was cleared by doing as described above.
Chris


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