07 yaris 4th gear not shift

[Benghazi]

check lights pops up in my 07 yaris , i scan it with obd it says code P0500 the wheels speed sensor and the speedometer works fine but the transmission speed sensor read zero speed , every time i clear the code car get 2nd gear hard until the check light pops up again and it work fine , at highway the trasmission won't shift to 4th gear then the car slow down at 120km/h to 100km/h .
does the sensor causes all that ?