Kangoo limp mode and shifting issues

The symptoms you describe, including the engine warning light, emergency mode, and shifting difficulties, strongly suggest an issue with the transmission oil temperature sensor. Is there any error code stored in the system's error memory?

Error code? How would I check that? Is that temp sensor a common issue?

The error code can be read out with suitable diagnostic equipment. A faulty transmission oil temperature sensor is indeed a common cause for these symptoms, especially in conjunction with a low gearbox oil level. I recommend visiting a qualified workshop for a diagnosis.

Thanks! Workshop confirmed the sensor was faulty and oil was low. Cost 365€, but drives like new again!