Escape transmission issues

Sounds like a classic case of low gearbox oil level causing the sensor to freak out. Slipping gears and emergency mode are common symptoms when the oil isn't providing proper lubrication and cooling. Have you checked the oil level? What error codes did you get exactly?

I haven't checked the oil level yet, but I will do that first thing tomorrow. The exact error code was P0711 - Transmission Fluid Temperature Sensor A Circuit Range/Performance. Could low oil really be the only problem considering the grinding noises when shifting?

P0711 definitely points to a temperature sensor issue, but low oil is a very common cause, especially with the other symptoms you mentioned. The grinding noise could be a consequence of the slipping and lack of lubrication. However, if topping up the oil doesn't solve it, then the sensor itself might be faulty and need replacement. Best to have it checked by a workshop, as it could become a more costly repair if left untreated.

Thanks for the advice! I checked the oil level, and you were spot on – it was very low. Topped it up, and the slipping and grinding noises are gone, though the warning light remained on. I went to the workshop and after replacing the sensor, the problem was solved. Total cost was 365€ Appreciate your help!