I received my 2020 in January. The dealership installed the gooseneck hitch with around 500 miles on it. This exact problem happened when I was leaving from the parking lot immediately after the hitch was installed. They reflashed the firmware for the transmission and it was fine for 6000 miles.
Then after a long week in May of towing 17,000 lbs it happened on a Friday night with a 3 hour drive to get home. That week alone it had worked flawlessly and it was a sudden hiccup. No warning signs at all. Seems there should be more functionality of the on board diagnostic system than just a “check engine” light.