Limp mode

I turned my car off while in drive and tried to restart it in drive not realizing it and after I put it in park and started it a mile down the road it went in limp mode and autozone cleared that fault and I have reset it everyday u can and it goes right back in limp,all the digital gears on the display highlight when I start it after clearing the fault and it perks in every gear I cycle through while faulted but not when I have got it reset for a few miles and cycle through the gears it don't jerk unless in limp,what's wrong?