Help! 2000 E53 4.4i

[Hong]

Hello...I have a car with 150000 miles. Engine light is on and three other signs, ABS, BRAKE and Lack of Power. And the speedometer is not working.

What it's done?
1, Transmission fluid changed only. Bought fluid from BAVAUTO and followed its video. Tried to replace the filter and gasket but failed because the screws are stuck and many of them are stripped. Still struggling with these issues.
2, Changed all four wheel speed sensors;
3, Checked all fuses related. No brown fuses.
4, Bought a BMW KDCAN device from Germany and get a report attached.
5, Went to a shop and was told that it's not worth to repair the transmission.

Codes (more details attached)
31 EGS:Symptom, gear monitoring
3B EGS:Stall speed
34 EGS: Gear monitoring 2

Any help will be appreciated. Thanks in advance!