Is it one pedal or two pedal version?

If it's one pedal, check the direction switch (probably here's the problem), eventually check the wirings between the direction switch and N1 module. (particulary (N1:36, N1:37, N1:72).
It's possible that this errors appear when the truck works in strong magnetic fields, but it's rather rare situation.

If it's two pedal version,
the X1, the coding connector is faulty, or the wirings between X1 and module N1 (the same pins as above) are faulty.