The cooler location is the weak point of the Td5’s automatic transmission setup. The placement sandwiched around the intercooler, radiator and air conditioning evaporator is a recipe for mud sandwiches and over heating. To resolve, as Slunnie has pointed out, you need to clean up the cooler and ideally instal and additional cooler too (in a location that is easier to clean and perhaps less likely to get as dirty too).
What concerns me about your post is that it happened last Summer, yet you’ve mentioned no maintenance or action taken since - rather it seems that you’ve just kept driving. If the temperature light came on then your transmission oil was overheated - you should have drained and replaced it as soon as possible. To keep driving on it continues to risk damage to your transmission and the broken down oil is more susceptible to overheating again (as has happened).
To give you some perspective, Ashcroft Transmissions in the UK, who are one of the leading rebuilder of these ZF transmissions for the Land Rovers suggest that the factory fitted temperature sensor is set for far too high and that at the temperatures that trigger it the warning light, irreversible internal breakdown has already commenced inside your transmission. For more on the topic read
Transmission Oil
EDIT: just read in your subsequent post that you have changed the fluid. Make sure the correct fluid is going in and a full synthetic type.