Peter has provided some good advise. I would ask if it is just scrolling 'Limp Mode'? Or is it actually IN Limp Mode?
My concern about Xrac is the possibility that his DPS is failing. That can be dangerous. It may be nothing more than an Angle Position Sensor needing attention. But those early (Pre-2013) DPS units were problematic. I hope he's been able to correct that.