Fault code P0706

[makeitfit]

I have another thread on my "clunky auto" but I think this is better started again.
Start car and go from P to R , pause and then quite a jolt, reverses fine. Then go to D and get all the PRND432 red lights on at once.

Switch it off and on again, select D and all appears fine again till the next time I need reverse ? With the following exception; the no. 4 light does not light up ? All the others do.
I'm getting fault code P0706

Any hints, tips and real world experience on this gratefully appreciated