1997 3.4 auto

This code came up last week and when I plugged the obdii scanner in the light went away about 30 minutes later while driving. i just figured to forget it for now. well i'm leaving for work yesterday and my roommate calls and said when i was leaving my reverse lights didn't come off, sure enough i pull into work and check and they wouldn't come off. drove up to advance again to make sure it was the same code, she plugged it in, confirmed it was the same code, walked to the back and said the reverse lights weren't on anymore. i walked back to the driver seat and the check engine light was still on. i said thanks and drove away, less than a mile after leaving the cel went off.

so now there's no issue but i feel its going to come up again, i've done some research but didn't see anything too conclusive as to what i should do. i read up and it has to do with the neutral/reverse switch. also, for some reason when i reverse i have a tendency to pop it into neutral after i have enough momentum to roll back, do you think this could be a cause? any reason i should stop doing this? thanks a lot guys