Trans failsafe only when starting from cold

[330cirob]

Hope someone can shed some light, ive had some problems with the trans failsafe light apearing as soon as i turn on ignition in the mornings. I dont see why it only happens from cold, ive scanned the codes and im getting P0709 suggesting neutral safety switch. Something to note is when the cog of death appears if i cycle the ignition a few times i manage to get P back again. Regardless of whether i have P or the cog it will still start without problems. Ive gone over the forums so much trying to find my exact problem without much luck, some have suggested poor battery (must admit it doesn't get used much and wouldn't say it has the greatest wollop when starting but never refuses to start) and also faulty ignition switch.
Something else which may be of relevance is i have just had the yellow traction light, yellow handbrake, and abs light come on.

Any advice greatly welcomed