AT VDC issue

[tomred]

Hi all,
I have a 10yr old 370 with 100k miles.
Recently the car has developed a fault with the transmission (AT).
When I start car all is fine for first 5-10mins then there is a little rev down blip and service light and VDC light come on. After this gear shifts down are fine but up is very clunky, in both D and Manual.
Next day same thing.
I thought there must be a temp issue as it only happens after 5-10mins but now I found that after 20mins driving I stopped, switched off car then on and the VDC fault went and car drove fine for 40mins.
After first time, fault service light stays on always, but I assume this is because there is a fault to be cleared.
After first visit to garage the fault was Cam angle sensor, replaced.
Drove fine for return journey, but next time fault returns.
Back at garage and again CAS is fault again. They are investigating if there is a wiring fault.

Anybody experience anything like this before?

Thanks all.