How to fix codes p0732 p0735 on 1999 Ford Explorer

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Pulling codes p0732 p0735, o/d light flashing. Happens sporadically while driving, o/d light on dash will start flashing then the hard shifts happen until I turn truck off. Once I restart truck, light is off & shifting/driving is fine. Shifting is nice & smooth until this happens, again only shifts hard when o/d light starts flashing on dash. Engine/ Transmission performance seems fine otherwise. What is cause & how do I fix? Thanks for all the help.
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