2005 Ford Freestyle starting

If I start the car in the morning and immediately drive it. The car will stay in first gear and get all the mechanic and transmission warning lights. I then turn the car off andt then turn it on and let it idle for 10 minutes all the warnings will clear and every thing works.

Likewise if in the morning I start the car and let it idle for 20 min. Every thing is fine. I've had a hard time getting an answer of what is the problem. My mechanic has put it on the machine and it indicate a transmission problem but when the car is turned off and back on every things resets. Help! Should I keep it or get rid of it?