I have the same problem. And have had the problem for about 25,000 miles. Mine tested as P0741 TCC Malfunction, or apparently a torque converter sensor is bad. Basically my car is not locking the torque converter when it should be. So I had the sensor replaced, which did nothing to fix it. Two shops told me if it happened again I would need a "tranny tear down." No thanks.
I got some info from a member here that had been having the same problem as me for a couple of years. He said he just lives with it, which is what I have learned to do.
I have become quite good at preventing the problem from happening. For one the light usually only comes on if I drive above 50mph, so it almost never goes on unless I am on the freeway. On the freeway I make a conscious effort to keep the torque converter locked
(better for the tranny anyway), not too hard unless you lift off the accelerator. Often I drive with the O/D off to keep my revs up so I don't have to stab the accelerator at all, and I have noticed very little change in mileage. Plus I drive under 70 mph usually. If the light does come on I just pull over turn the car off and go on my way.
Annoying? Yes...but better than the thousand dollar job all the shops want to give me. Usually my car drives just fine also, so no big deal. Eventually I am sure I will need a new tranny but I deal with it then.