Transmission Not Engage problems of the 2016 Acura TLX

While traveling 75 mph on interstate multiple / all warning lights suddenly illuminated on dash board and the car placed itself into neutral from drive position. Upon coming to rest car was placed into park along shoulder and when drive was selected it would not engage. Vehicle was turned off and allowed to sit for several minutes before restarting again. Again it would not allow to go into drive. Tow truck was dispatched and after about 30 minutes car was able to shift into drive. Vehicle was then driven about 1/8 mile along shoulder to visible rear stop entrance. We waited for tow to truck to arrive. Car was restarted and would not engage into drive or neutral when attempting to load onto tow truck. After several attempts neutral and drive eventually engaged. Car was taken to nearest dealer just before close before major holiday. Recieved call from dealer stating that the cause of all this was dead battery. Unknown to them battery was replaced y months prior. Also I have dts report showing multiple malfunctions and errors. I feel that if all this can happen by having a dead battery (that somehow allows you to restart your car multiple times after initial malfunction) this is a huge safety concern. I called dealership back and asked them to double check diagnosis and also check alternator being that the battery is only 6 months old.

Driving at highway speed, cruise control on. Tried to accelerate, using pedal, to pass. No response from vehicle. Driver info cluster was flashing "n" for neutral. Multiple error messages " check transmission", "check emissions systems", "check parking brake system". Confirmed engine was still on, @ idle speed. Pressed "d" to re-engage drive. Transmission would not engage. Forced to coast to side of road in traffic with no ability to accelerate or keep speed. Once under 5 mph trans made clicking sound and eventually engaged "park" abruptly. Made more unsuccessful attempts to engage "drive". Got out checked vehicle for any obvious mechanical failures. Got back in car turned off and back on. Error messages remained but was able to get the trans to engage drive. Drove vehicle to safer place off the interstate. Called Acura road side service. While waiting for service I turned car off and restarted. Car came back up "normal". Finished mission. Acura dealer at destination found no problems or stored codes.