Am currently adjusting the alignment and SLS on the car since I do not have proper steering control.
Here is an update:

- Car still does not shift to 5th (Unless TCM is removed then it goes 3 -> 5)
- Cruise control still not working
-ABS light continuously on

Tried checking the pins on the ABS control module, which were fine and gave the contacts a clean as well.
What I tried doing was clear all codes, made sure it read no codes, and then started the car. It STILL had ABS light on even without codes. I went for a drive and came back to codes 28 from pin 8 (VSS - open circuit) and code 9 from pin 14 (Left rear axle vehicle speed sensor or Hall-effect speed sensor / Rear axle vehicle speed sensor from ABS control module).
My next step will be to trace the rear axle speed sensor wire to see if it is faulty (sensor itself looks fine and free of debris).