Randomly enters into limp (?) mode- rough idle

[mcfee03]

My X5 has been running pretty smoothly the last 6 months. I don't drive from the often (once a week ~10kms) and have done a few long trips (300 kms).

However this week- it seems to randomly to into "limp" mode. Idling becomes rough, and accelerating is patchy.

It normally only happens at ignition, and often turning it off and on gets rid of the problem (car runs fine, no errors get reported/ODBII is clear).

However, today it happened while driving.

What could be triggering this limp mode?

It possible I have a temperamental o2 sensor triggering it?

Work I did with in 12 months- CCV Replaced, alternator, disa valve.

ODBII tells me:
P0115- power train O2 Heat sensor
P1349 P1351 P1352- tap for multiple descriptions
P0300- random misfire detection.