Have a look at below,
055/151/P0730 | Selected gear not attained, transmission is in electrical limp-home-mode | ATF oil level Harness ATF oil filter not installed Shift pressure regulating solenoid valve (Y3/6y2) Command or Regulating, Shift Control Valves | See 13/27 as well, Check ATF fluid level, fill up as necessary, see document AF27.00-P-0101A |
Make sure that the filter is genuine OEM (MB) as the aftermarket ones do not fit properly.