Most P07** codes are Transmission related for your vehicle
DTC P0730: Problem in Shift Control System
Has the vehicle been shifthing funny? reving up before shifting?
It will probably be need to taken to a repair facility to determine the cause of the problem. It could be caused by the shift solenoids not holding pressure or an internal clutch pack is going bad. From my experince it is usally caused by a failing clutch in the transmission requiring a rebuild or replacement.
Source: ASE certified Master Mechanic