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I direct your attention to code P1562 (attached), which represents voltage to tranny computer dropping below 9 volts. This is the only tranny code that will make M&S light come on, but not check engine light. Also, the text below indicates the codes will self clear after a number of drive cycles.

Normally this indicates that a battery is weak, on starting it drops below 9 volts due to high load from starter. Good thing to meter, in case battery is failing (even though newish).

While battery and alternator are hopefully in good shape, all it take is a little corrosion on a (+) wire connection anywhere on the way to the tranny ECU, or on the (-) connection. I'd start at battery (13.8 - 14.4 volts at idle) and work toward tranny ECU. Main frame ground point for negative battery might be the first place to look. Plus volts runs thru fuse 12 under hood to pin 26 of tranny ecu connector. Should be able to voltmeter at fuse, there is also a plug on bottom of fuse box. Drawing attached from RAVE.

From RAVE on D2 workshop manual, automatic gear box:

Diagnostics
While the ignition is on, the EAT ECU diagnoses the system for faults. The extent of the diagnostic capability at any
particular time depends on the prevailing operating conditions, e.g. it is not possible to check torque converter lockup
while the vehicle is stationary, or to check for a short circuit to earth if the circuit concerned is already at a low
potential.
If a fault is detected, the EAT ECU immediately stores a fault code and the values of three operating parameters
associated with the fault. Depending on the fault, there are four possible effects:

The fault has little effect on gearbox operation or vehicle emissions. The driver will probably not notice any

change and the warning lamps remain extinguished.

The fault has little effect on gearbox operation but may effect vehicle emissions. On NAS vehicles, if the fault is

detected on a second consecutive drive cycle, the MIL illuminates.

All gears are available but kickdown does not function. The sport and manual warning lamps flash. The MIL

remains extinguished.

Limp home mode is selected and vehicle performance is greatly reduced. The sport and manual warning lamps

flash. In all markets, if the fault is detected on a second consecutive drive cycle, the MIL illuminates.

After the detection of a fault, the effects remain active for the remainder of the drive cycle. In subsequent drive cycles,
as soon as the EAT ECU diagnoses the fault is no longer present, it resumes normal control of the gearbox. The
conditions required to diagnose that the fault is no longer present depend on the fault. Some faults require the engine
to be started, others require only that the ignition is switched on.
After a fault has not recurred for forty warm-up cycles, the fault is deleted from the EAT ECU memory. Only five
different faults can be stored in the memory at any one time. If a further fault occurs, the fault with the lowest priority

will be replaced by the new fault

So by switching on/off after initial start, you start a new drive cycle, and lights go out. It is the initial low voltage that is the issue. Battery dead cell, connection anywhere in the series circuit, earth connection for tranny ecu, etc.