Code P076A, transmission not shifting gears while driving?

Hello. The code you are getting, P076A, indicates a problem with one of the shift solenoids.
Six solenoids are used to control the friction elements (clutches). The continuity of the solenoid circuits are periodically tested. Each solenoid is turned on or off depending on its current state. An inductive spike should be detected by the PCM during this test. If no spike is detected, the circuit is tested again to verify the failure. In addition to the periodic testing, the solenoid circuits are tested to see if a gear ratio or pressure switch error occurs. In this case, one failure will result in the appropriate DTC being set. The MIL will illuminate, and the transmission goes into neutral, if the DTC is set above 35 km/h (22 mph), Limp-in mode when vehicle speed is below 35 km/h (22 MPH).

The issue could be in the wiring, connectors, the PCM or the solenoid assembly. I would suggest further diagnostic steps; while a PCM or solenoid assembly replacement can be quite expensive, a minor wiring repair would cost very little.