To me this sounds like a problem with the transmission control unit. I believe that based on the fact that it sounds like it was operating in safe mode and upon turning the car off whatever code or issue there was simply reset.
There's really no way to check the tranny fluid except for having the transmission flushed. There is an article
here at Pelican Auto parts that explains how to change the transmission fluid with your transmission.
Also, this is a link to your transmission at RealOEM.
Click here
I would just flush the transmission first and if the problem continues I would have it inspected but like I said before, it sounds more like an electrical issue with the transmission control unit than anything else.