Yes, you have FORD 5R55N transmission - welcome to the club. I have been having years of problems with it, many folks experience no problems, however, some have changed transmission every 20k miles

I suggest reading error codes to see what error code you can pull from the ECU. I guess it's a pre-stroke spring, and I hope I am correct as this is an easy and CHEAP fix. Doesn't require pulling off transmission, you just need to remove oil pan and access it from there. A new filter and Mercon V should be installed at correct level.
New spring ~ <20$, filter <20$, oil depends, mostly 7$ per liter
Does the error (amber light) go away after you switch the engine off? Does the error return, when you accelerate at 40-50 miles per hour, with strange switching between the gears, then switching back to lower gear (like 3rd gear)?