I did a lot of research and I came with simple solution.
1. Drive the car for 15-20 minutes, the transmission needs to reach the working temperature;
2. Park the car, open the hood, open the fuse box next to the battery;
3. Remove fuses #21, #16, #37, #38;
4. After 15 minutes return them back (#21 is a 30A fuse, #16 is a 10A fuse, #37 is a 15A fuse, #38 is a 10A fuse).
5. Drive the car for 15-20 minutes hard, it has to shift over 3000 rpm, do a lot of kick downs, let it rev past 5000 rpm, that's the best way for the transmission ECU to relearn;
6. Park in in your garage and try it next day. This worked for me.