Vehicle Shudder problems of the 2017 Honda Pilot

While driving on a busy road with my wife, my vehicle shuddered while accelerating, and began jerking and slowing down before losing all acceleration. Multiple warning lights went off, and the tranmission automatically shifted to neutral. The transmission is a 9 speed, push button shift. We we were almost rear ended by the vehicle behind us while attempting to coast to the shoulder. While attempting to figure out what was going on, I was unable to shift the vehicle into any gear. It would not shift into park, reverse, or drive. I contacted the Honda dealership and reported the issue and had to have the vehicle towed. While waiting for 2 hours on the sode of the road for towing, I was unable to get the transmission to shift into any gear. It was only after the tow truck driver arrived, and I shut the vehicle off that the car finally shifted into a gear. The vehicle is currently at the Honda dealership and being diagnosed. There were 4 error messages that I received when all of this occurred. I have photos, and a video of it as well. This is not my first issue with the transmission. It has been to the shop twice before for shuddering when shifting at low speeds, and not shifting properly. The vehicle currenly has around 18,500 miles on it. Fortunately this tranmission issue happened on a side access road, and not on the turnpike, or the end result may have been an accident involved. The dealership cannot explain why the transmission shifted to nuetral and completely lovked out the ability to shift or move it under its own power. I do not feel safe driving the vehicle, and feel that it is a hazard to other drivers. I have video of the transmission not shifting but was unable to load that as an attachment.