Here is the issue my transmission seem to go into a light limp mode every once in awhile after driving the car hard.

It seem to be stuck in gear and doesn't shift up or down.
If I stop and restart car it goes back to normal.

When this happens the car will not change from M mode to C mode or S mode.

Could this be a TCU tune related issue?
I do have an TCU tune on the car.

Have you scanned for codes ? That is the easiest way to start identifying the problem.

What TCU tune do you have on your car?

Yeh, do you get a CEL? Also, check fluid level and see if any leaks.

Sounds like you have a conductor plate failing. Should have speed sensor codes in the tcu. It's a easy DIY project and not to hard on the wallet.

Will check for codes in TCU.
I guess Ill look up conductor plate DIY.

To trans check fluid, you will need a 30 dollar trans fluid dip stick tool or borrow one. Some cars can push trans fluid up the trans wire harness into the TCU control module.