1Marauder

I'm new to this forum, please forgive me I think I posted this on Tech forum also (Sorry). I have a 2006 S500 5.0 Basic 91K miles. Receiving pre-safe malfunction message. Car DOES NOT have pre-safe (no sensor behind radiator-no msg option on dashboard). Cause trans to stay in lower gear (take that to be limp mode) however when I restart car trans responds normally. Yesterday, after stopping at traffic light trans felt like it was slipping, Pulled over, it did it again, 1 msg this time trans at first would activate drive or reverse, put it park then it went into drive & reverse. Trans responded normally-only had to move car couple hundred feet to get into garage. Checked this morning-no fluid of any kind under car. Help...Skylaw...anyone..please. Thanks in advance.