What happened to your D3/D4 today?
	
	
		Typically the Incorrect Gear faults means the torque converter or more likely the clutch packs are slipping badly.  That is, there is too high of a rotational speed differential between the input and output for the gear that was selected.
So yes, sadly I would say you need to rebuild the transmission.
The U fault comes up when there is bad data detected, that is the Incorrect Gear fault sends a signal to other ECUs that there is bad data being sent.  Cascading ECUs then can’t use that data.