As far as I'm aware the OP is running stock wheels, so it doesn't seem related to non-OEM wheels/rubber.
I noticed the other day - on my stock wheels - that the left rear wheel would sometimes feel like it was slipping during a turn while accelerating hard (from a traffic light). I've yet to get the Drivetrain Malfunction error but I suspect it's not far off.
Car is going in tomorrow for fluid top-off and pre-flight check before heading out to SF.
Alpine White · Sakhir Orange Full Merino
Executive · Driver Assistance · B&O · 20" HRE P40SC · Akrapovic Evolution · H&R Springs · Many Euro Mods