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I agree with the intermittent problem causing the limp mode. I am also highly suspicious of the VSS (vehicle speed sensor). Anyway, I'd be checking the electrical connection at the VSS. A dirty connection of flaky piece of wire can cause these problems as well. Also, cruise control uses the VSS input so if that is also acting badly, then it also points to the VSS circuit.
Having said that, I've personally never had to mess with a VSS.
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