2002 Prius 149,000 miles problems

So about 3 months ago I had my main 12V battery replaced with a factory battery.
The car had a new transmission at 86,000 miles.
So these days when I am in Southern California traffic I drive the freeway. When there is stop and go traffic the hybrid battery drains almost completely. When I press on the gas pedal the car revs for a couple of seconds then lurches forward and drives.
This happens consistently now, there are no warning or error lights on the dash it just goes crazy.
So I pull over and stop the car for a few minutes and drive on.
If there is traffic the same thing happens, when I go from stopped to try to move up a few feet the car revs pretty high for a couple of seconds then lurches forward.
All fluids are good there is no physical damage to the engine or motor that is visible.

Here is another strange symptom.
When I drive surface streets to make my way home the hybrid battery over charges.

When I stop the engine stays on and continues to over charge the battery. It feels like then I am slowing down there is a gear change (best I can describe the feeling the car kind of lurches again and revs very high until I come to a complete stop. The fan on the battery comes on and things get scary.

So I pull over and let it cool for 15 to 20 minutes and drive on. After this time unless I get stuck in more stop and go traffic I have a normal ride and everything is back to normal.

If you can see the attachments I took pictures of this happening.
One picture you can see how the battery is over charged as if I was going down a long hill.

The other is even when I am stopped the motor is on and it's still over charging and heating the battery.

I phone the dealership in Hunington Beach and they indicated unless there is an error light there is nothing they can do.

Does anybody have a similar experience and ideas of what I can do?