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Fiesta Titanium, Hill Start Assist Not Available

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Hi there. I've had my Fiesta Titanium for about 6 years. And recently got the TCM replaced. Now, I'm having this error that pops up. "Hill Start Assist Not Available", and the ABS, Handbrake, and AntiSkid led lighted up. But once you turn off the engine, it goes away. I tried to repeat the error. And found out, whenever the car stops, while the gear is in [D], and the car rolls back a bit, the error comes up. I took the car to a Ford center near me, and they couldn't find anything wrong with it. They did suggest the ABS pump module may be faulty. 

Should I be worried? 

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