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2000 Honda Odyssey TCS light and transmission problems in cold weather

For a few years now, in cold weather, when starting my 2000 Honda Odyssey the TCS light will stay on and the transmission will not shift out of low gears. I can drive in reverse just fine, but when I try shifting to drive, the "D" drive indicator does not light up and it will only drive in what seems to be first gear. However, when sufficiently warmed up, I can restart the engine, the TCS light goes out, and everything's normal. The warm up time varies from 5 to 10 mins or more, and is unpredictably annoying. I went to a dealer last year and they didn't seem to have a clue. There must be someone else with the same problem. Is it just a matter of a bad sensor? Let me know if you have a solution. Thanks.
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