When you put the car in gear, can you see the CSS engaging, ie does the little pushrod extend? If so, it could just need to be re-adjusted (extended further). It may also be at the end of its life, where sometimes it manages, and sometimes it doesn't. Making the linkages move more smoothly could help, but perhaps you need a new CSS. Another possible culprit could be the pressure sensor on the transmission, or maybe a loose or broken wire.