Slowed for an intersection and when accelerating away I felt/heard a thump and the following indicator lights came on: 4x4, Brake, ABS, tire inflation, the msg "Tran Fail Safe Prog" appeared and I lost high gear. Pulled over, shut the engine off for 30 seconds, restarted and transmission warning message diappeared and all gears were operational but indicators were still on. Now the symptom occurs only infrequently, and most of the time the indictor lights come on without transmission problems. Thinking it might be a weak battery I put a new one in but symptoms still occur periodically.