Here is what I found about "Limp Mode" -
In cases where the instrument cluster message indicates the transmission may not re-engage after engine shutdown, perform this procedure only in a desired location (preferably, at an authorized dealer).
- Stop the vehicle.
- Shift the vehicle into PARK (P), if possible. If not, shift the gear selector to NEUTRAL (N).
- Push and hold the Start button until the engine turns off.
- Wait approximately 30 seconds.
- Restart the engine.
- Shift into the desired gear range. If the problem is no longer detected, the transmission will return to normal operation.