I have been getting a code 523 repeatedly on my system. I have taken it into the dealership and they have replaced the Gear Sensor Switch but the fault still shows from time to time. I have been tracking the faults and it only occurs when the bike gets hot. Usually after a real hot day riding, a long ride, or traffic. And when the bike cools (usually over night) the fault goes away. Heat is the factor that appears to cause it and I will be putting an oil cooler on the bike. I'm thinking this might help with the fault. Does anyone else have any ideas that could help? I am an avid rider which plays a part and put over 1000 miles a month on the bike.