Transmission issue?

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2013 CX-5 Sport
I have a 2013 cx5 sport that is automatic and has about 30000 miles. Yesterday I was driving home and had the cruise control set at 65. I started up a gradual incline and just at the transmission downshifted the Tpms and tcs lights came on and the transmission came out of gear. I made sure I was in drive but when I pushed the accelerator the engine revved and there was no acceleration. As the car slowed it finally shifted into first gear and I stopped on the side of the road. I got out and checked all the tires in case I had a flat but all tires looked good. I shut off the car and restarted it after a minute and all the lights had cleared so I drove away. Everything ran fine the rest of the way home. I haven't had a chance to pull any codes. Has anybody heard of this problem? The Tpms light I am talking about is the amber one that looks like a flat tire and the tcs light is the amber one that looks like a skidding car. Thanks

Matt
 
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