I think I found a bug in the ECU/computer. The other day, I was dropping my wife off at work, and left the car in drive while my wife got out and to get her things from the trunk. The trunk door wouldn't open, she tried repeatedly while i pressed unlock a few times. Finally, i realize maybe because i was in gear (D), so I shifted to neutral or some other gear (not sure because it happened real fast as my wife finally opened the trunk and left). So I continued to pull out of the parking lot, but found gear was being reved much higher than normal, so I thought I was stuck in (M?), and wiggled the shifter real quick, as it up shifted. then by the 2nd light (stop and go) i realized that something is wrong with the car, the TPMS light was on, and TCS light was on, and I can't turn the TCS on or off (by pressing the button, led remains lit) So i pulled over to a gas station then turned off the car, walked around to inspect any physical damages to tires (found none), then turned the car back on, and everything was normal again.

the car is a grand touring with everything loaded.