Same issue with mine yellow 4x4, ABS, BRAKE, SERVICE ENGINE SOON lights and TRANS FAILSAFE PROG.... I'm getting fed up with the whole thing now...So sad....its such a great car.

The Radio cuts out intermittantly and if its at night the headlamps also go off and on intermittantly .......and to think I just changed the battery even though the other one was still ok and next day same load of problems.

Car runs ok even transmission is fine during drive and gear shifts..

got these codes the other day.

5F3A TRANSFER CASE
5E28 WHEEL-SPEED SENSOR, EMC FRONT LEFT
5E52 WHEEL-SPEED SENSOR, EMC FRONT RIGHT
5F42 TRANSMISSION CONTROL LIMP-HOME
5DCE CONTROL MODULE UNDERV
5F02 WHEEL SPEED SENSORS GENERAL

I'm in West Africa and the local mechanics I have are good guys but when it comes to this electronic and electric stuff they are helpless.