I had something similar if not the same. Same message and I only got it on towing and normally when foot was off the accelerator and caravan 'pushing' the car - like going down a hill. Vida dice told me it was some lock up function related to some lock up clutch in the auto gearbox. Some people said a coolant leak into the transmission via the oil cooler could cause that as the coolant eroded the clutch material. I was lucky, my gearbox oil level was low as I had been measuring it with the engine switched off. Apparently, the oil level in early XC90 auto gearboxes should be measured with the engine running-perhaps someone can confirm this before you try it? Anyway, I topped my gearbox up and never got the problem again.
Hope this helps and keep us updated.
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