2011 transmission shifts hard
 

I've got 65k mi on this sonata and I just starting getting a hard shift from reverse gear to 1st gear drive. Mainly in the morning but it's also happening after 15min of traveling.

The transmission shift hard and the gear display led goes blank. So I shift to park and turn engine off and restart. This seems to correct the led display issue

Anyone have any experience with this?

Bump. It happened twice today on two separate occasions while shifting into reverse