Walt,
There are a wide range of little things that can trigger a P1740 trouble code... many of them do not require a trip to a dealer. Believe it or not, a cold transmission, low fuel level, and even having the transfer case in low range can interfere with the powertrain control unit's normal diagnostic routines which can inadvertently trigger this particular trouble code.
Start by making sure the transmission fluid level is adequate.
Has routine maintenance been performed on schedule (the transmission fluid and filter changed and bands adjusted)? If not, take care of that.
Then, clear the trouble code with your code scanner and continue driving to see if it returns. If it does, then you may want to try replacing the output shaft speed sensor located on the tail housing of the transmission. It's an inexpensive part found at any auto parts store and very easy to replace.
If none of that helps, then diagnostic checks will have to be performed by a dealer or transmission shop unless you have the tools to do it yourself.
Best regards,
John L.