I drove over to Imola autosports after work and they cleared the TCU for me which got me out of limp mode and allowed me to use the full range of gears again. On the way home I also noticed the in-dash RPM gauge spiking from 2000 RPMs to 8000 RPMs and back down to 2000 RPMS for brief moments. When this would happen, the transmission would release the current gear, I'd have to stop the car, put in park, turn off, then turn power back on, put back into drive before the TCU would re-engage any of the gears.
So, this is a show stopper. I need to fix the RPM glitches or its not really drive-able.
I also got these error codes from the TCU before clearing it -- any input on how I should tackle these??