For the thread starter. When was the ATF fluid last changed? If it's been in a long time and smells even a whiff of burning, it needs changing for the correct type of ATF. Sounds corney I know, but it's a standard procedure for auto-boxes.
Leedsman.

 

The ATF was changed about a month before the PCM in October 2016, about 28,000 mi ago, when the transmission valve body was replaced. The dealer replaced the valve body first thinking that was the problem which it wasn't. The PCM was identified as the culprit finally and when that was replaced, the limp mode problem disappeared at that time. I'm not sure how many quarts were changed out at that time but the cost was about $43 for all the ATF.