I had the same thing from a low voltage incident. First if it goes to failsafe it just goes to 4th gear and stays there id confidently drive maybe 40 miles or so to get home vs tow. Second get a real time monitor of voltage and see if you get any voltage dropouts. Usually the abs will "trifecta" on you before trans failsafe but I have had trans failsafe first that cured after a couple restarts.

In my case the B+ nut fell off my alternator I just refurbished and apparently didn't tighten.

So don't panic more than likely a computer glitch from voltage flicker than anything else

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2011 E70 • N55 (me)
2012 E70 • N63 (wife)