Had same thing on 2013 outback with 114K miles after a short drive (2 miles), no lights were on when I parked the car. The same lights you saw came on when I started the car after it sat for about 5 minutes. Drove home and let the care sit for about an hour and all except the check engine light went out. Scan showed a p700 and a p2673. Car was now running a little rough, I reset the check engine light and it now runs fine. Researching the codes indicate what could be serious transmission problems but I have not had it happen again and I have driven about 500 miles since then.