2008 Lincoln MKX Transmission

Intermittent problem - The wrench symbol lights up on dashboard, the mileage gauge reads odom error, the speedometer goes to zero while the car is moving. As I slow down and speed up the transmission does not shift and while accelerating the car moves but does not go to normal speed with acceleration. I turn the engine off and restart, shift into reverse the cars jerks very hard and shift into drive the car jerks very hard. After a few minutes the car goes back to normal operation the wrench symbol goes off and the speedometer begins to work again. It will run fine for a while and then the issue will recur. Trans fluid was recently changed but the problem still comes back.