The yellow gear box fault light means that action is required.
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Stop when safe to do so. Do not drive on any further!
The gearbox can become too hot, for example if the vehicle regularly pulls off from the starting position in stop-and-go-traffic for example.
While stopped, allow the gearbox to cool down with the parking lock engaged.
Do not drive on if the indicator lamp does not go out.
If this is the case, contact an authorised repairer as failure to do so could result in considerable damage to the gearbox.