So after checking the solenoid values at the gearbox ECU I find the brake duty solenoid is out of range by a decent amount [supported by the lumpy changes but all shift solenoids are within range [just on the higher end].
After a few days of abandonment on the drive it's now decided to shift happily when cold, I am looking to take it up the hill that gave me the issues later tonight to see if the issue returns.
I need to get it in to the gearbox specialists next week for the solenoids to be changed.
As an aside, 2 weeks later and the 'specialist' who left me with the error and non-functional box has still yet to call me to discuss his findings and repairs!