Vehicle Shudder problems of the 2014 BMW 328

I was merging onto the interstate and got into the passing lane. I then shifted from 3rd gear to 4th and the car started to shake and lose power (limp home mode). The display said drivetrain malfunction, drive moderately, etc. And the check engine lamp came on. I shifted to 5th gear to see if it would help and had the same low power issue. I then changed two lanes to get onto the shoulder. I turned the car off and waited briefly and restarted the car. The lamps were off and there was no issue. I phoned the dealership and they stated they get this type of call often and it is a 'normal glitch. ' I should drive it and see if it happens again as it usually doesn't or I could bring the car in.