2002 Jetta GLS Tiptronic Tranny Problem

This just happend to me today as well, I was driving down I-10 going about 45mph in taffic when my I looked down and my ESP/ASR Warning light was triggered. I pressed the ESP button a couple of times to see if it was off or on but ther was no responce to the button, then all of a sudden my car jerked like someone hit me from behind. since I was in traffic I was in a stop and go situation, every shift of a gear would rock the car violently in tiptronic and automatic mode the lower the gear the worst the shift,it scared the heck out of me, it was almost dangerous. the engine light came on earlier that day and stayed on but the car drove fine till this incodent, I could also not go over 4th gear. got to the house put the car in park, turned it off and started it again and drove around the block, engine light was still on, but the car handled properly and I got to fith gear,,,, very strange. IF anyone has a clue before I take it to the dealer I would like the info, just to be ready on what the dealer has to tell me. Thanks.

2002 Jetta GLS Tiptronic Tranny.