Hey Guys my 2008 Rav briefly went into a “limp” mode tonight and I’d like to know if anyone has had the same issue and if they know what caused it and what they did to fix it. I had cruise control on doing about 63 then turned it off and went up a small “hill” so slowed down to about 20-30mph. Didn’t brake hard or anything pretty much just coasted to that speed. When I was going up the “hill” (not steep maybe 30-40 degree incline if that) i started slowing down more and more and in turn I pushed the pedal down harder. I noticed I had the pedal to the floor and was going 15 mph. Then saw my Engine light was flashing, and my VSC and 4WD were lit up and when I’d give it gas the whole car would shake, not super violently but plenty enough to notice. This lasted maybe 1 minute before it started driving like normal. After this happened I tried gunning it a few times to see if I could get it to go “limp” again but it did not. Within the last 15,000 miles I replaced the O2 sensor behind the cat, I'm mentioning that because that sensor going out causes the same lights on the dash to light up. If anyone has any ideas please let me know.