Yesterday merging onto the freeway I managed to shift from 3rd gear to 2nd. I was at ~ 6K RPM in 3rd when I shifted. The car immediately shut off and I was able to roll over the shoulder of the freeway. I got a message on my display something about service engine. The car did not immediately re fire. After two attempts the car started up and idled fine. When driving home it was missing and stumbling and power was low. I am guessing I was in "limp mode." Once I was able to get home I pulled the positive battery cable and waited for 45 minutes. After re-connecting the battery, and starting the car it fired right up. No more CEL, no weird noises. I took the car for a 7 mile test drive and it seemed fine like nothing happened. No weird noises coming from the motor. No smoke coming from the tail pipe. I pulled the dipstick and no metal fragments. Drove it 15 miles to work today and it is running fine. Should I take it into the dealer to have them pull codes? Should I be worried? What should my next steps be? Thanks for any suggestions.