Do you experience the X5 feeling skid/slip when driving?

[uhenry1]

This is happen to me when driving back home from two hours family trip. My wife and kids was so scare when it happen and don't want to ride on the X5 again. My X5 drove fine and all sudden I feel the X5 is slip/skid likes the car is losing control of the car or feeling likes the car is driving on the ice. I stop the side off the road to check it out and everything seem fine. I drove about 45 mph and increase my speed about 2-5 miles then the car seem fine.
After about 15 minutes later the check engine lights come on and Cel P0171 and cel 174. The front suspension has recently replace (upper or lower control arms, lower ball joints, front axels). Please do you had any ideas why?

2001 BMW X5 3.0 with 184K miles and car drive great. I recently changes the
the following: replaced used transfer case, all o2 sensors for upstream/downstream
upper or lower control arms, lower ball joints, front axels. Valve cover gasker, DISA and oil separation done about 1 year ago.

Thanks,
Uhenry1