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Car slips into neutral in automatic (E), if I turn on ES mode will it help?

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Hi I have a Toyota Yaris 2009 with a MMT gearbox. If I drive in automatic (E) my car has slipped into neutral a few times, this happens when accelerating/decelerating but nothing else (at the minute). It doesn’t smell or make any unusual noises, nothing even comes up on the dash (the gear light came on only once out of the few times it happened). I have been driving it about in manual mode since and so far nothing bad has happened. I’ve seen online that people suggest to switch the ES mode on and the problem stops? Can this even be possible?

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