Well at least you should be able to pull codes from the TCU now.

I'm not sure if you are implying you suffered engine problems but if the car just went into limp mode then you don't really need to get a tow. One of the reasons the tranny goes into limp mode is so that you don't damage anything if you continue driving, ie, to "limp" home. Usually the only thing you hurt by driving in limp mode is your gas mileage.