1997 bmw problem

i have a 97 840, i have a few problems that i thought someone here could help me with. my traction control light is always on. i cannot control it. thinking maybe speed sensors?? abs light always on also. thinking module or sensors again. She drives great but at freeway speeds when barely on the gas, it seems like she doesnt know what gear she wants to go into. a minor grinding noise along with minor slippage occurs. The wierd part is that when i get on the gas it goes away and doesnt slip. Lastly i was wondering if there is any 5 spd auto swap that would bolt on without having to lengthen/shorten driveshaft, or any electrical work etc. ex. would a e39 540 5 spd auto fit my 97 840 or would i have to do some work to make it fit? please help.