I had the same issue with my boat With Smartcraft it is a fly by wire shift mechanism. There is a sensor in at both ends. If it doesn't sense that shift to neutral in 3 seconds it gives the alarm. It can happen if you shift too slowly or if you are not completely in engaged.
I have the same 38, 2008 sundancer with the exact same problem. It’s been 2 years now and after diagnosing the engines 3 times I’m still left with the same problem. Please let me know if you have better luck than me.
I have the same '08 38DA with the same engines and have experienced the same issue on the starboard engine for 3 seasons. The sensor is built in to the throttle body and has to be replaced as a unit. I put a new throttle body on and all the alarms and codes went away.
