2009 Freightliner C2 bus transmission "check trans" light

I am having an issue with the transmission on my Freightliner C2 school bus conversion. When in traffic, or stopped for a light/sign, the “check trans” light will come on and the bus will only stay in first gear. I have to pull over, restart the bus to clear the light, and then I am usually good until I need to stop again. As you can imagine, its very annoying. If I am on the highway, it shifts gears no problem, it only seems to be from stopping and going again. I’m not sure if there is a bad sensor or something or if it is something more mechanical. The bus will shift gears, but it’s almost like it thinks it can’t. I checked the tranny fluid and it’s good. Any insight on what this could be would be very helpful.

Odometer: 126,000

Engine: Mercedes MBE900

Transmission: Allison 2500 automatic

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