I have a 2000 Xterra and use it for city and routine beltway and highway driving. When driving at 55-70mph on highways, the accelerator/transmission will disengage and there is no acceleration capability in highway traffic at 70mph. I need to pull the car off the highway, reset the transmission to Park and then to Drive and then am able to drive again. Obviously this is a very dangerous situation on a highway. What is the source of this problem? Can it be fixed? It has occurred 20-30 times.