I have also had it happen in similar circumstances on my 2008 D3. I have enquired what caused it and the dealer thinks that it may be a small amount of slippage being detected in the transmission due to fluid cavitation or similar. I do not believe it is heat related but it may be due to the angle the vehicle is on. It dosent occur repeatably enough for me to form more of an opinion and the time I did have the dealer analyse the codes the fault was buried with a heap of other codes caused by a car trailer with dodgy wiring.
It would be worth asking your dealer to have a look at the next service and posting the result back here.
Regards,
Tote
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