Why did my 2003 Honda Pilot engine just died while i was driving around 30-40 miles per hour?

It virbrates every now and then when i hit 35-40 miles really bad of the whole car and I also have a check engine light and vtm-4 light on. I was able to turn off to a side street put in park and shut off and then started the car back up and it was fine again. Any ideas?

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