abs, slip ,trac lights
 

hi I got a 04 Altima this issue just happen recently. Well today driving to work on the hiway and going around 110-120 km driving normal and not actually pusing it hard i had a couple of jerks. I saw the rpm at around 3500 then the jerk happen and went down to 2000-2500 i couldnt go faster then 120km mt speed also reduced. Then later that night i was driving home ( thought it was a tcs problem) i took off the tcs. Drove home on the hiway came off then i saw abs, slip, lighths are on. when stopped i tried to put on the tcs and light wont go away.Then while braking it felt like the abs will kick in sometimes
My uncle had the same problem he took it to nissan dealer and paid $500 to get it fixed he told me it was one of the sensors DONT WANT TO PAY $500
Anyone knows what sensor went bad can i fix it manully ?????????????
also my uncle said it stalled him on the hiway dont want this to happen to me
please help me

sorry it was a 04 altima 3.5 v6

try your camshaft position sensor or your throttle position sensor