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Peugeot 5008 limp mode

Hi,
My 2010 5008 semi automatic 1.6 Diesel intermittently goes into limp mode where only 1st 2nd & 3rd gears are selectable.
The dashboard display states ‘gearbox fault’ and the ABS light is illuminated.
The following fault code came up on the diagnostic equipment when I took it in to be checked over:
‘P0559 brake signal (switch CAN) coherence’.
I was recommended to replace the foot brake switch. I did replace it but the fault still remains.
I would really appreciate any advice or recommendations about how to go about fixing this issue.
Many thanks!
 
A lot of these faults remain as whoever repairs it, doesn’t know how to reset the warning notification.

It may need an authorised service from a peugeot dealer rather than an independent garage.
 

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