Hey there Tracer 09, I have had that issue a few times as well. 2011 Z, 30,000km (20,000 miles) and had that happen maybe 3 or 4 times? It just slips out of S mode for no reason. Usually scares the sh*t out of me because it happens when I'm downshifting, expecting rev-match but instead get rev-jerk.
No diagnosis. Hasn't happened for about a year.
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