Hello there!

That's my nightmare!
V70 FWD non turbo AW55-50 gearbox
TCM-0023 code
the gear box don't find third gear.
from start, it engage 1st, then 2nd, et over rev without engaging third. Si ti shhft to 4 and 5. Several time it lock in security mode, locked in 4th gear.

Already done
TCM update ...

I 've got similar problem on my V70.

it was the front left ABS sensor, who is giving also speed information to speedo gauge and ECU it seems.
Without this signal, the gearbox disengage, and speedo come crazy.
Easy to replace at home.