need to check codes but it sounds like gearbox solonoids
a service wont fix it
you need to replace the gearbox
once the vsc light comes on and car tricks to codes theres really no turning back for that gearbox
the key is preventitive maintanence
if your in sydney bring it over and i can have a look at the car for u
but gearbox replacement inc labour supplied and fitted with a full service is 2800