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there's no huge thing to worry about, pretty much any modern german car will do that, it goes into limp mode to protect itself.

sometimes you can turn it off and back on a few times and that will reset it or disconnecting/connecting battery.

epc light came on mostlikely due to an abs sensor malfunction/dsc sensors, could be as simple as something hitting a wire while driving on the road, to pinpoint just need an error code/codes.

but since you already have it at the dealer...
 
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