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Pull over immediately error message

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So I got this error message today. Was driving from home to Liverpool one. Parked the car popped the hood to get our staff and notice this flashing on the screen.
PULL OVER IMMEDIATELY- Unable to drive/ Exiting and re-entering vehicle may restore operation.

Went straight back to the seat, closed door and hood and put car both on drive and reverse. No issue. Left the car for about 3 hours with sentry on since it was a public parking.
Came back, drove home no further issues.

Booked it now as sevice and got ranger visit and some re seal on the front ball arms was added too.

Anyone else has experience of this? Can't seem to find something relevant. I hope its just a software issue, already had one motor failure.