2008 DODGE SPRINTER 2500 Electronic Stability Control Esc Problems

THE ESP DASH LIGHT CAME ON WHILE LEAVING PARKING STALL, THE SPRINTER SHIFTED HARD DOWN TO FIRST AND WOULD NOT SHIFT. I TURNED THE VEHICLE OFF AND RESTARTED NOW THE VEHICLE WAS IN HIGH GEAR AND WOULD NOT SHIFT DRIVING ON CITY STREET. I DROVE A SHORT DISTANCE 1/2 MI. AND TURNED THE VEHICLE OFF, LET IT SIT FOR A MINUTE OR SO AND RESTARTED, THE VEHICLE DROVE FINE FOR A MILE OR SO THEN THE ESP DASH LIGHT CAME ON AGAIN, NO ISSUES WITH SHIFTING THIS TIME. THE NEXT DAY WHILE DRIVING ON A RESIDENTIAL STREET THE ESP LIGHT DID NOT COME ON FOR A 1/4 MILE WHEN IT DID THERE WAS NO SHIFTING ISSUE. I TURNED OFF THE VEHICLE AND RESTARTED AND THE LIGHT DID NOT COME BACK ON FOR SEVERAL MILES ON CITY STREETS AND ONE STOP AND RESTART AT FUEL STATION.