Change the oil of the GEARBOX this is a seperate oil reservoir, this should be done every 100.000 km.
We have a Renault Sceniec which had the same problem would change gear up, and would go in a error state.
But when the engine was warm enough above the 2nd temperature level and we restarted the car then it will do the normal gear change function.
Our car has done 220.000km.