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I had this happen once and it turned out to be a low battery voltage issue. Charged the battery fully and the message disappeared after a short drive.
also,h ad a moment like that with my Discovery once....cranked fine but just wouldn’t engage. Ended up being the clutch sensor acting up. While sorting it out, I needed a ride, so I booked a car through miami limo service—super smooth and the driver handled all the luggage. Took the stress off while the car got fixed.