So I had this happen about a year ago, driving at normal intervals and my transmission lugs and I get the above message, "Engine system service urgent" and the car goes into limp mode. It does that thing where you can't take the key out and you can't go more than 10 mph. It did it 3 consecutive times and now runs great. My check engine light stays on and typically after 3 starts will be gone. Anyone have any ideas? I know someone else had this issue on another thread but I didn't see a response. Thanks!