Idle issue

My 2008 p71 stalled while stopped at a red light. I
went to hit the gas then a check engine and check
batter came on. I gas my car and it would not go.
Almost rolled back. Turned my car off and on,
started like a charm.

Tested for the battery and starter, codes were fine.
Alternator fine since radio was still on.
Trannsmission place checked it out, they cold find a
problem and the tranny fluid was clean.

Is this a sensor issue?