2001 Odyssey EX; 88,000 miles

After 5 hours of highway miles, and exiting highway, Malfunction Indicator Light (MIL) and Traction Control System (TCS) light come on and the van starts acting strange (TCS being activated) on dry clean pavement. The van was parked. Later when started, no problems except for MIL still on. Gas cap was on tight. The next day the code was checked and it was P0740 (torque converter control) and the MIL was reset. Another 5 hours back to hometown with no TCS light or MIL coming on - except when exiting the highway the van starts lurching and the TCS seemed to be activated from time to time. However, no MIL or permanent TCS light. I did a little test drive and it seemed to be fine, except when I stopped on an incline (dry pavement, no stones) and then started. The TCS would kick in with a flash of the TCS light. It seemed like transmission slippage, but with the TCS acting, it was hard to tell.

Has anyone had this problem? Any suggestions??