Let us know what the dealer has to say before you approve any repair work. They are generally clueless about the XFs and will start throwing parts at the car at triple the retail prices that will not fix the problem. Post on here what codes they find that were thrown. If the RCM has never been checked then you may need to do the solder repair on it. The stock I/C pump is notorious for failing. The magnetic impeller usually disintegrates. The #10 Bosch I referenced is the updated version that fixes that problem and is plug & play. Also get a Bosch Crankshaft Position Sensor for future replacement. All very common problems that will need fixing eventually. Low tranny fluid that commonly leaks out of a defective conductor plug can cause this problem, along with a bad tranny conductor plate. When she won't go in drive like that she's gone into limp mode. Any thrown codes will help narrow the search!