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In a Subaru vehicle, limp mode is a safety feature controlled by the engine control module (ECU) to prevent damage to the transmission, engine, and driver when a serious issue is detected. If you suspect that your Subaru has gone into limp mode by mistake, it's important to find a safe spot to stop and put the car in park. Turn off the engine, wait for about a minute, and then restart your vehicle. This usually resets limp mode, but if the problem continues, it suggests a critical malfunction that needs to be addressed before the ECU will allow you to come out of limp mode. Use a scan tool to check for any error codes in the Subaru. Unfortunately, there's no simple way to exit limp mode until the underlying issue is resolved, except by reprogramming the ECU, which is not recommended.
To clear limp mode in a Subaru, bring the car to a stop and put it in park. Turn off the ignition. Wait for 10 seconds, then start the engine and shift into first gear. If the transmission is still not working properly, it should be taken in for service.
I'm currently disconnecting the positive terminal and keeping the car disconnected for 5 minutes. After the 5 minutes, limp mode has been deactivated, turning off all lights such as downhill assist, traction control, and the check engine light.