hey how are you
1- go to local parts store like advance auto or auto zone and have the vehicle scanned & retrieve fault codes
and post them back here to me , so we know what is failing .abs pump, abs sensor,yaw sensor, steering angle sensor, etc.. if any of these sensor fails will throw the traction control/abs system in limp mode ,since they problem is intermittent most likely each time you cycle the ignition switch it will reset the fault .
2- You can take out the wheels and pull the abs sensors off and clean them with brake parts cleaner in case there is a brake pad dust on them and failing intermittently .
but that will be a guess on my parts ,since no scan available now , but that will be most common fault ,but testing is needed
3- one more thing we can try to is A Master reset and see if it was a glitch ,
Master reset Procedure
1- Disconect Battery Cables ( Negative & Positive Cables )you can use any electrical wire as an extension if battery cables don't reach .
2- Hold cables Together for 60 secs ,then let go
3- Wait 15 minutes
4- Make sure all doors are closed
5- Reconnect battery Cables
6- Lock & unlock the vehicles using the key from driver door side (if you have a key fob with no blade key, just lock & unlock using the key fob buttons)
7- Enter the vehicle and attempt to start
If that don't work get some codes and i can help further ,or if the dealer give crazy estimate let me know and i tell how much needs to be and if it is true what they are telling you
Please let me know if you need anything else on it, just reply back and we will continue
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ASE Certified Technician