Espace transmission warning light and rough gear changes

Sounds familiar! I also drive an Espace, and had similar symptoms. Have you checked the gearbox oil level? Low oil can cause all sorts of weird shifting problems and trigger those warning lights. Is the emergency mode happening frequently?

I haven't checked the gearbox oil level myself. Is that something easily done? And if it's low, what kind of oil should I be topping it up with? Also, the emergency mode happens intermittently, not every time the warning light comes on.

Checking the oil level can be a bit tricky depending on your experience, you need to find the fill plug and check if oil comes out when the engine is running. But with these symptoms, it's best to get it checked by a workshop as soon as possible to avoid major damage. It could also be the gearbox sensor, which would cause similar symptoms. It definitely sounds like a transmission repair might be in your future.

I took it to the local garage, and you were spot on. Turns out the transmission oil temperature sensor was faulty, likely due to low oil as you suggested. Repair cost me 365€, including the sensor replacement and oil top-up. Really appreciate the advice!