Update: Took the car to the dealer today. They think the master cylinder (for the brakes????) is going out. Since it will be tomorrow at the earliest that I will get it back, they are arranging a rental car for me in the meantime since it is still under factory warranty. I wasn't expecting that to happen. Nice surprise.
Will update later when I know more. Thanks to Harold and Wick for answering.

You guys were right, it needed to go in. I knew it did but was hoping someone knew what was wrong before I took it in.
Sherri