I have an 06 Acura TL 5At . The thing is that it was driving fine and then one day going down the parkway it fell out of gear, I had to pull over and put it in park then into drive again. A week later it started going to shift gears neutral out then slam into gear so I babied it. Then it progressed to falling out of gear and catching its self slam into gear. It grinds when going from drive to reverse or park. Now I drive it in manual and it works shifts and everything I am not able to drive it in auto. The orange triangle is up and my vsa light is on for a 84-1 code and it says sensor logic failure Abs/vsa control unit will quit communication above 30 mph that’s all it says. The fluid is clean as a whistle the trans has over 170k I have no idea what the problem could be please help.