Yes this code is for the shift lever outputs it is detecting both fwd and reverse sometimes if you shift to fast this code will set....can also be a sticking switch in the assembly,usually shifting to neutral first then to desired gear will not have any issues
if it is a mechanical issue with bad switches then the combination switch assembly will need replaced( involves pulling the steering wheel and removing the plastic shrouding around the dash display/steering column) is just 4 screws that hold the assembly in place