So I was driving today through some up and down roads with tight corners. Then the Outlander shifted hard and the check engine light came on. I drove till i could pull over but noticed that it wouldn't shift passed 3rd gear. After pulling over i popped the hood and checked the ATF dipstick to check for fluid. it was clear and slightly low. I then drove it again and it will still not shift passed 3rd. I pulled over again and this time shut the engine off for a little bit. After starting again the check engine light was still on but it was now shifting through all the gears. I drove to the first auto parts store I could find and had them look for what code it was throwing. The p0735 code is labled as Incorrect fith gear ratio. I drove home and let it sit for a few hours. I started it again and the light is now gone. Any ideas with whats going on? Thanks!

2007 outlander LS AWD 95,000 miles (us spec)