Definitely read the codes. As was stated, low voltage is the Occam’s razor.
I’d next try checking your fluid level (truck running, on level ground, still cold). The fluid should be a steady stream, clean looking and not burnt.
if you’re low on fluid these transmissions are very picky with fluid levels. Make sure your topped up. Use zf fluid only. It’s expensive but the only thing that should go in there.
next, if that does not fix, I would try a fluid drain, pan swap, filter change, and new metal pan. At this point I would also suggest swapping the solenoids and putting new seals between the mechatronic unit and the transmission. The seals and solenoids are optional and would save a ton of frustration if you have to go back in.
if you don’t opt to do solenoids and seals and a fluid change doesn’t help, then you’ll need to go back in and do them. There will be lots of cursing at yourself for not doing them the first time. It is not a bad job, just messy and zf fluid isn’t cheap...
If solenoids and seals don’t fix the problem, sadly, your looking at a rebuild, a new trans, or a used. I found a low mileage used transmission on carpart.com for about $600. A rebuild was going to cost about 1600. Labor was about $1500.
For the $2100, I tapped out and opted to put in a used transmission (with all new fluids and Mechatronic seals). Have not had a problem since...