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Last week the ABS, BAS, ESP warning lights came on and stayed on around the same time the transmission started shifting erratic the RPMS go high to about 3,000 before it shifts into 2nd from a dead start, but does not do it all the time sometimes it will shift normal if I let the car idle in park for about a minute then when I put it in drive and take off it doesn't seem to do it, can you help by letting me know what could be causing the problems with the ABS, BAS, ESP all being on and is the shifting problem related to the ABS, BAS, ESP errors I checked for error codes with my OBD II code reader for both the PCM Power Train and TCM Transmission Control and there are no error codes

Thanks
 
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