Have you put new tyres on it lately? If you have but only two and still have older warn ones on that could be the problem? Only comes on on the open road, not around town. Difference in tread between tyrers confuses the onboard computer. Well, that was the problem when it happened to my 96 3.2 ...

Yes, had the same problem in my previous Terrano 1996 3.2 Diesel. I had two tyres replaced on the front and the back two were nearly ready to replace within a couple of months. That was the problem, there was such a difference in tread thickness from front to back the on board computer indicated a ...