Having the same issue
My 02 Explorer eddie bauer has also done this. Had diagnostic done twice and same up with the same code. But next the ABS light came on, then the door ajar. Took it to get oil changed and after picking it up my truck drove like crap. Sounded like it was going to break down. Later that evening I was on my way to work and the steraing started to act up, I couldnt control it to go straight, its like my power steering went out. I pulled over, waited till the cars went buy and continued to drive about 15 MPH till I got to the nearest store to call a tow truck.
I am praying I dont need a new transmission. If anyone else has any ideas I would also like to know what could be the issue.