few things to look for one how long where you driving when went into limp?
it could be your oil transmission cooler thermastat happen to me tramission oil is too hot and triggers limp mode
might be your abs module getting ready to go and need rebuilt 139 bucks on ebay few companies do it
yaw sensor might need replacing
if scanning does throw a actual code go with transmission oil cooler thermastat for limp mode problem
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