I drove on the highway today and about 20 minutes into the trip I smelled burnt rubber. Shortly after all the lights on the dash started flashing, the truck wouldn't accelerate, and the doors were locking and unlocking. Pulled off to the side, turned it off. Checked transmission fluid because I got a transmission service not too long ago and it seemed fine. Couldn't find the source of the smell. Waited about 5 minutes, cranked it back up and no issues for the rest of the 10 minute drive, got gas because I was low and parked.

Was in the store for about 1.5 hours. Crank it up, no problems. Get back on the highway and within 5 minutes smell burnt rubber again and a single yellow light on both the speedometer and RPM start flashing. Also noticed there was a message on the odometer but it went away and the lights stopped flashing as I slowed down and pulled off to the side. Didn't shut it off. Waited about 2 minutes and started going again, was able to get off an exit immediately and took local roads home, never exceeded 50 MPH and truck was fine, no issues.

Any ideas on what this could be?

I've only owned the truck for about 1500 miles and it has 188k total on it. 2009 LT.

Since I've gotten it I've had the following work done:

Oil change
Oil pan gasket replaced
Full transmission service with pan removal, gasket and filter replacement
Brake system flush
Power steering fluid service
Oil cooler line replacement
Rear wheel cylinders, rear drums, rear shoes replaced
New battery (thought old one was bad, it might have been but had a parasitic draw from radio and just pulled the spark plug and left it empty)