Hi I had much the same problem,also the gearbox held on to lower gears at times. changed the o/s/r wheel sensor. cleared codes and drove the car about 500yds lights came back on. It turned out to be the o/s/r reluctor ring had broken up,fitted a new one and drove the car 20yds lights went out. I still put the laptop on and cleared the codes anyway, the part you will get on ebay for about £30 but its not a 5 minuet job to change. It requires the removal of the rear hub to fit it to the driveshaft. Hope this helps