I have had the check engine light come on 3 times in 12 miles, and I believe the code was 0-82-4, or something to that effect. As everyone has said, it is the speed sensor, and the only time it does it for me is in "L" range when I have been switching from "R" to "L" several times, when traveling slowly towing a small trailer of firewood up and down my hills. After panicking the first time, reading this forum and the RZR forums finding they have experienced the same probs, including changing the sensor, yet it still comes back, I have continued to run it. I didn't shut the machine off the last time it came on, and found that once I got up to a faster speed without shifting from forward to reverse so much, the light went out and no codes were showing anymore. When it comes on and stays on, I'll probably go back to the dealer for help.