2020 JEEP CHEROKEE

My Jeep keeps going into Limp Mode and not will completely shut off while I come to a complete stop at a stop light. And while I’m driving the engine light comes on. I can cycle it through to get the engine light off. Then it runs fine. This has been happening since after I bought it. I’ve taken back to the dealership I got it from and they couldn’t find anything wrong with it, so they took it to a Jeep dealership and got the same answer. Clearly there is something wrong with it. And could cause me to get into an accident. This is my only vehicle for transportation. The code that shows up is P0934