wierd transfercase problem

[djanzen]

My neighbor has a 2005 cc sb 6.0
when he is driving along and comes to a red light and stops the transfer case will go to neutral. It has to be warm outside to Above 18C 64F also it is completely random.
this is a copy of the ford dealer email,

Here are the codes that the computer received.

P0341 pcm
C1700-1707 pam
b1318 gcm, ic, rcm battery voltage codes (it seems the batteries are
getting low voltage)

p1812, 1820, 1828, 1832, 1865, 1866, 1867, *1876*, c1728, c1729


The battery codes could be something to watch for as they seem to be
getting a little low. The 1876 code was the code that returned after
being cleared, it was for the shifter motor. The technician believes
that the shifter motor will only make things worse if not replaced soon!


So he went a bought a shift motor, replaced it and guess what SAME THING
It still does it.
has anyone heard of this before? any tips for repairing.