My Jeep goes into all 5 gears-each gear shows a box around it on 2007 Jeep Commander

It alsmost feels like it is in neutral and will only move 25 miles an hour. I have to stop and turn it off an don again to reset it. I have taken it in to a "reputable " local service center and they said it was ok. It does not sound great either. The engine light keeps going on and off. I could use some direction with this vehicle.

Asked by for the 2007 Jeep Commander
this is a poss warranty item under your 10yr 100k mile drive train warranty?