I had the same problem, and the solution was very easy. It took them quite a while to figure it out, but I was lucky enough to find a mechanic who took the time to look for the fault and found it. Let me tell you, the first thought was to replace the whole gearbox, but after several tests, they found the solution. All of this took me several
months, but that's the least of it.
First, they changed the spark plugs, and... nothing (they thought it might be an
electrical issue).
Then the ignition coils, and... still nothing.
In the end, they changed the solenoid valve that regulates the transmission lubrication, or
something like that. They also changed the transmission fluid.
From what you're saying, the problem was exactly the same. I think you can rest easy. Above all, don't let them touch anything without knowing what's wrong. They connect the computer, and with the car running, it generates a graph of all the parameters.
If you'd like me to call you, send me a number; I'm very interested in helping you.
My car repair invoice says:
LABOR
OS Check gearbox fault
Vehicle test
Online pressure check
OA EXT-REP HYDRAULIC DISTRIBUTOR
MATERIALS
VALVE COVER
GASKET
3.5 L RENAULTMATIC D3 OIL
Total invoice including VAT: €300
Have faith, I was desperate, especially considering it was a new car.