@rajika4ever, @Davy, @Hyaenidae Can this somehow be related to corrosive battery terminals? I've heard this can "sometimes" cause transmission issues.
We have the same model clocked at 160k and this exact issue started happening to me yesterday. The battery did indeed had slightly corroded terminals. Cleaned the air filter and recharged the battery and it started to shift fine again. Working okay so far. Will update any events.