2000 Caravan with trans problems

Hi all, I got a 2000 Dodge Caravan with 120k on it, when the van shifts into fourth gear there is a shudder, the engine revs for a moment then it goes into gear, it only does this when the van has gotten hot by driving for about 7-10 miles. After a few weeks the check engine light started coming on (occasionally it wouldn't shift into fourth until the van was shut off and restarted), I scanned it and came up with codes p0700 and p1788 I replaced the input and output transmission sensors, still does it, any ideas? thanks

Might be a good idea to have the trans fluid changed. Are you sure it's got enough fluid?

Another thing is the 700 code indicates a fault in the Transmission Control Module. Try to clean and reconnect the connection to the TCM.

I forgot to say that I've had the trans flushed, the fluid was clean before it was flushed and is still clean, didn't make any difference. But I will try reconnecting the TCM, thanks