I have had this problem a number of times over the last few years (from the 6th year of owning car onwards).
Last year I managed to solve it by having the RPM sensors changed. It didn't cost much (about EURO200 equiv. approx.), and the gearbox ran well for about a year.
The problem surfaced again now (car in the 10th year), and I am half thinking of either bringing the car in again for similar repair, or to just have the auto gearbox completely converted to manual.
The gearbox behaviour and light still comes on as described in the first post above now, and I have been driving the auto gearbox like a manual for the last few weeks. It will forcefully transition into 4th gear once the engine in warm enough, and the car will ride normally by turning off the engine and restarting the car.