Uh oh! 2004 base Tiptronic...Emergency Run Mode alarm!

[Beelzy]

2004 Base, 85k.
So, I exit the freeway and after stopping at a light, my car sputters for a second or two, then runs fine. I attribute it to newly purchased fuel, it happens right? Then a mile ot two down the road, a dash warning pops up. "Tiptronic Emergency Run Mode" I clear it, then freak out.
However the car didn't hiccup or anything and ran fine. No light after I stopped for a job and it drive home fine. What is up here? Impending doom, time for service? Guess it's a trip to the shop to have any codes pulled? Any input is appreciated, Thanks!