Service shifter light randomly turns on, codes U1465-00 and ESM P1C86

I have had a service shifter error that will come up on my vehicle. It has happened several times and seems to occur at random. It stays on when it comes on and only goes off it vehicle is turned off. I took it to dealership and it was showing any active codes on the stored codes of TCM U1465-00 and ESM P1C86. Dealership said since nothing was active they couldn't do anything. However, due to work schedule. The dealership is usually closed when I am driving. Any suggestions? Thank you so much.