I experienced something like what you describe in another manufacturer's vehicle a few years back. It was a transmission shift solenoid. Expensive repair since the part was $300-400 and you had to replace all three since it was not possible to diagnose which of the three it was and a de facto trans flush was required due to needing to drop the pan to fix.
Anyway, after some driving the vehicle went into limp mode and yes, restarting would reset limp mode but driving around like this may cause further damage. Limp mode is your vehicle protecting itself.
Check into replacing the shift solenoids on your automatic transmission. That ought to take care of it.