Code 420571, Transmission malfunction?

The following code shows up 420571 ETC voltage supply: Outside of specified range (below 6.5V).

When I am stopped on a red light and vehicle is in drive, it switches to parking sometimes and if otherwise it stays in drive, but this above code appears and vehicle won't move ahead unless the lever goes back in parking, and I manually put the vehicle in drive myself.

As it shows above voltage below 6.5 could it need a battery change, it not been changed from 8 years, but I don't have any issues with starting.