I have a 2001 Odyssey EX with 65000 miles and I'm having the exact same problem (check engine and TCS light coming on, pulled a P0740 when i checked the code, extremely bad slipping when shifting between gears and it even got stuck in 4th gear after exiting the highway)...how did you end up resolving it?

You said you had 11,000 miles for the code to show up again and if it was the transmission then the cost was covered. Is that because you had a 100,000 mile warranty or was it because of the "tranmission extension warranty" that tech126 was talking about? Tech126, could you please elaborate on this warranty as well. Thanks for your help.