I have been getting an intermittent TURTLE light that results is very, very, very sluggish acceleration - to the point that it is dangerous. And when I put it in reverse I cannot get it to go at all. By the time I get it to the Toyota dealer, the light is usually out and they can find nothing wrong. They say it just means that you should not try to accelerate too quickly until it goes out. It is not an indication of a problem!!! I disagree. I am coming up on my 100000 miles and after that, if there is a problem, it may not be covered by warranty. (It is the original model that looks like the ECHO - not the hatchback).
Here’s a forum dedicated to your car, they might be able to help: