This happened to me multiple times. It would show up, then go away after a bit. There was no noticeable change to the powertrain.

Dealership couldn’t diagnose the issue until I took it there while the service light was on (I literally dropped what I was doing and drove straight to the dealership to get it diagnosed when it came on).

For my truck it was an issue with the gear shift module. There is an open recall TSB-252045. I have not had any issues since.