I had that issue a lot on my 06. Do you sometimes get a Transmission heat light show up too from time to time? If so, it's likely the same issue I had. I get it far and few these days but used to have it often. The issue is the design. They routed the tranny coolant line along the passenger side catalytic converter just 1/2" away! Nuts I Know! Every tranny code would kick in...Temps, relays, and pressure.
I did two things...I added an auxillary radiator for the tranny. I increase the distance from the coolant line and insulated it near the cat. Now I barely experience it.
Another thing to check is your cats. Are they running real hot? Particularly the passenger side cat. Hit it with an Infrared temp sensor gun and see if you are in a reasonable range. Or...Run it at night and see if the cat is glowing like a cherry in the dark. If it's overheating, it might be in need of a good cleaning or, better yet, a replacement. Some people gut their cats out but I wouldn't recommend that.