Gear selector service required S60 2013 Volvo

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Hi all,
Have not been on the forum for a while.Have only 36K miles on the car, last fall had 50K service, still under warranty which is over by now. Started getting the message. Shutting engine down and starting up removes the message from the dashboard for a week, then it comes back again. The car drives and shifts just fine. Any ideas? Thanks.