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Limp Mode is the result of an exceptional condition occurring. It provides the driver a very restricted driving mode to travel a limited distance,
One hopeful cause is that this has occurred when the car was first started. If it is then it is likely that the battery was weak and tripped the cars computer into the limp home mode. Some times the limp mode doesn't activate but a CK engine light comes on.
Make sure that the car is in a safe location. Make sure that the battery is charged. Remove the battery terminal for about a minute or two. Reinstall the battery connection. If the car starts normal and runs OK you can assume the battery voltage had dropped below an except-able level and tripped the limp mode. Replace the battery.
there is a small switch under brake bedal. when it is broken, you get a warning on your dash light and ABS and related equipment go into safe mode. you need a new one. other reason to this can be a broken sensor on one of brake calipers. those must be checked.
If the under carriage is broken and you can see where it is broken then any screwing back in of the bit will only have it fall out again especially when you are in a bad situation. Best put it on a tilt tray and have it delivered to an accredited chassis repairer and be safe rather than very sorry if an accident occurs.
It's stuck in Safe Mode because the ECM (the computer of the car) has detected a major fault and it has engaged it - the Safe Mode is designed to allow you to drive the car up to the next repair shop (so you don't get stranded in the middle of nowhere when a fault occurs).
Take it to a repair shop, while it still drives and the damage isn't catastrophic.
thats a fail safe, theres so may codes that cause it to go into fail safe mode. the list is too long to list, best free advice, go to autozone or advance auto parts, and have them read the code(s) for free. Id definatly do that asap. because without knowing which code it is to start with your just shooting in the dark with solutions. for the jeep. 25+ codes can cause this.