01 EXL TCS adn Check engine light on

Just bought a used 01 15 miles from the dealer the TCS adn check engine light came on. About 40 miles after that we were in a parking lot and the transmission jumped. After reading many posts about the tranny going out is this an idicator I have to replace mine? IT only has 67770 miles on it. We are the 2ns owners. If we have to replace the tranny is it covered under the original warranty us being the 2nd owners?