TCS Light ONLY - Intermittent limp mode

Hello all,

2013 G37 Sedan Journey RWD 7AT

I've had an intermittent issue where my TCS light only (no brake / no vdc / abs) will sometimes go on and stay on. Sometimes this will happen when immediately starting the car and it will be in a limp mode where it will refuse to shift into 2nd gear, and when it does, it slams into like a rear end collision.

Sometimes it will happen on the highway and a simple restart of the engine will make it go away.

One time it took near 30 mins of attempts to have it go off.

Brake fluid is topped off (though I believe this is usually a problem when tcs & abs lights are on)

TCS on does work and flashes as it should, and TCS off works as well - again when the TCS light doesn't randomly get stuck on.

Last thing I noticed when it happened last time (a few days ago) was the car just continued to crank and not fire which was really odd to me. Eventually it fired and has been fine since. When it's off the car performs great otherwise. No overheating, oil temps are good, power is there, etc.

Any help on this would be appreciated.

 

Bump for any ideas