gearbox light problem
The problem as you described it is very similar to the problem I experienced on my Brava's gearbox about a year back. My particular problem was due to the gearbox gear position sensor (mounted on top of the gearbox unit) switch contacts becoming very dirty/mucky over time due to wear and tear. I carefully opened up the unit and had the "rotor" and contacts cleaned, gently polished and lubricated (Magnatec works very well) with a thin layer of lubricant, and it has been working fine all this while now. My hypothesis for the symptom you are experiencing is that the dirt and muck is causing the switch contact to become intermittent at times when the engine/gearbox is cold and which improves when it gets warm/hot as the muck will have a lower viscosity when warmed.
While you are on the repair job, check also that:
1)the electrical connectors for the gearbox unit are also in good condition and are not showing signs of corrosion, which you would need to clean up as well. I wrapped up mine connectors with some aluminium foil as added protection.
2) gearbox lubricant is sufficient and of good condition and quality.
Good luck mate.