1996 s420 epc,asr and gas light flashes
 

i have a 1996 s420 the epc, asr, and gas low level lamp are on , codes in modules are for can communication errors,the vehicle will intermittenly go into limp home mode, no throttle control and trans shifts harshly,when this happens the EPC, ARS lamp come on and the gas low level light flashes constantly, i am currently suspicious the ETC or trans control module is causing the can system to break down, any thoughts or fixes would be of great help.