Hi, I have both the ABS and ASC light on permanently on my dash and also have lost speedometer, I have changed sensors on wheels twice ALL round, Both warning lights are still on. I have also noticed that when in Auto and Sport the gears will not change unless I push into the RED zone, but strangely when in semi manual I can gear change okay and the change down occurs normally when slowing to a stop. Any ideas before I send this car to meet its bitter end ! i.e. the scrap yard !