When I went off-roading on some hairy stuff the same thing happened to me. The engine light came on, the message as you stated came on and it beeped at me every once in a while (like the no seat belt beep). I was very nervous because I was in the middle of no-where. I just kept on because I had to stopped to take a piss. Got back in and it was off. I have driven at least 1,000 miles since it happened with no issues.
Told the dealership when I went in for 3,000 mile oil change. They said, "if it still isn't on we can't fix it". I don't know if it is really an issue but it is not cool.
You are not the only one at least. Let me know what you find out & tell them it happened to other H3 owners.
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