Check your alternator output and battery voltage. Alternator running, if it isn't 13.4 or better you have a bad or dying alternator. Battery with car off. Should be showing 12.3 or better. Let it sit and then check the battery again. If it has dropped significantly, likely you have a bad battery. I'm betting you have a dying alternator. Just went through the same symptoms with my X. Checked the alternator and it was only putting out 11.4 volts. These cars are very voltage sensitive and if it gets too low they start doing all kinds of crazy stuff, including going into trans failsafe mode.