Hi, welcome to the forum
For a CVT car I would recommend using an independent garage with genuine Honda specialised expertise. (maybe an ex Honda mechanic) Not just one that mentions Honda among a long list of other cars they can tackle. Sorry I cant help with a particular garage but others might be able to help.
CVT Hondas require the use of Hondas own specification of cvt oil, which is quite expensive. Whilst most garages would be able to drain and refill the cvt oil its quite likely they would use cheaper universal cvt oil rather than the correct specification of genuine Honda cvt oil. (IIRC even Honda sell two types of cvt oil depending on the age of the car) . Also its difficult to drain all of the old oil from the gearbox,so if what remains was seriously contaminated and degraded due to neglected cvt oil changes the new oil will also become contaminated. In these circumstances it may be necessary to do a 'double flush'. ie fill with oil, drive the car for a short while then do a second oil change. With lots of very expensive CVT oil going to waste.
A friendly and competent independent garage with no particular Honda expertise may be able to do the job as long as you agree in advance the need to use the correct cvt oil.
As for the P0138 code it really depends on the root cause. It might just be a faulty sensor, but it can be a waste of money replacing perfectly good sensors in the hope of a cure, if there an actual cause that needs fixing ,such as a leaking exhaust, faulty catalytic converter etc .