I am having the same issue. Just this morning just leaving the driveway the trans went into limp mode. Shut the car off and restart it again and the lights went out.All worked well for about 10 miles and the lights came back on. But the trans was working fine. This may go on for a few days to a few miles until the BAS / ABS lights come back on. I have checked the battery, alternator, brake light switch. Grounds are o.k. Any sugestions before I take a hit from the dealer?

Thanks
Mike V.