hi , I had very similar problem a while back, and after a lot of testing with vista, it turned out to be a front R/H wheel , speed/wheel sensor. when it all was happing lots of codes were coming up gearbox, diff front and back, transever box,plus many more, didn't look good, but there was one code that repeatedly came up at the top of the list, at this point it was becoming undriveable ,it just didn't seem that a wheel sensor could cause all these codes. So I went got two wheel speed sensor, replaced driver side front, the problem never came back, the sensor controls so many systems ,cleared all codes, happy days, I could have pulled the car apart for nothing, and got nowhere, except an empty wallet. hope this helps you or someone.