Simple fix. Take the cover & speaker out of the passenger (right) side footwell. The TCU (transmission control unit) is tucked inside above the speaker. Unplug the connector and identify which socket is pin # 33. The pin numbers are molded into the plastic on the TCU. Cut down a spade connector so it's narrow enough to fit into the socket and crimp a wire to it and tape it onto the connector and tie the other end of the wire to a good ground. The message will go away and there will be a permanent "S" in the dash gear indictor, which can be removed by taking the bulb out.