P0705 help

Searching this entire forum for help and I’ve tried just about everything but still no fix.
14 2wd SR5 was pulling small lawn mower trailer and check engine light came on with traction control off light display. Checked code was P0705, cleared it and was fine for about 2 weeks and came back on. I don’t have aftermarket lights on rear. All reverse lights work. Only one license plate bulb out. Reverse camera works. All fuses I read to check are good. Gear displays all light up the square around the letter but D…. It drives fine all gears seem to engage and work. I’m lost on it.

edit: it does randomly go in and out of limp mode. While in S I can go through all gears if it’s not in limp

 

Well, went ahead and replaced the neutral safety switch and problem solved.

I used PB blaster on the threads and sprayed it 3x a day for three days prior to removing it. Came off very easy. The electrical connector was harder to get off and back on. Overall took about 1.5hrs to do and no more code.