Transmission Not Go Into Gear problems of the 2020 Acura RDX

My 2020 Acura Rdx has now gone into "limp mode" 4 times since I have purchased this car. Twice, I almost was involved in a accident due to this suddenly lose of acceleration. In "limp mode" the vehicle will not shift gears and you are forced to try to slow down and move over to a safe place. You must then turn off the vehicle ~ which so far has reset whatever issue happens and then you are able to drive normally again. My vehicle only has 15,000 miles on it. In all instances I was driving on a highway at approximately 60 - 65 miles per hour, with wet road conditions and was attempting to pass a slower moving vehicle. When pressing down to accelerate, the vehicle tries to downshift, but it pauses and the engine light comes on ~ (limp mode). I loose any acceleration and am forced to try to safely move over toward the emergency lane to turn off the vehicle to get it to reset. So far, this has at least allowed me to continue on my travels. But this is very alarming and dangerous, especially if your on a two lane road trying to pass a slower vehicle.