I have a 2000 X and I experienced some of the same problems you've experienced. I learned that the stealership didn't know what the problem was. After I returned my car to the stealership for the 3rd time, he discover that the main problem was the transmission and the brake sensors were miscommunicating. The transmission read that the brakes were not being applied and vice-a-versa. There was a quiet recall on the X regarding that problem at no charge.