Its probably a simple fix. There is a electrical connection to the tranny that engages the reverse lights. Most likely that’s it. It could have been compromised by road debree, or a bad connection. Hope this helps…
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Maybe, maybe not, It's most likely a bad rear seal or worn main bearings but check the oil filter just to be safe. Sometimes things go wrong when changing the oil filter that can cause similar symptoms.
1) old gasket left behind.
2) cross threaded filter.
3) loose filter.
4) damage gasket or defective new filter.
There is a technical sevice bulletin for this exact issue. Go to the dealer and request they reprogram the pcm. You should not pay more than a half hour labor, they'll probably try to get a diagnosis fee out of you. Tell them no, just reprogram the pcm to latest calibration. If this doesn't fix it, then repost or pay to chat, but that should fix ya.