Long story short I was in the freeway then I felt some sort of loss of power nothing too serious but when that happened the "service engine soon" “VDC” and “SLIP" light came on kept going like that to my house about 3 miles. I changed the engine oil and tranny oil like 2.5k miles ago so...? I haven't changed the spark plugs in a while maybe that could have caused it? My car currently has 116xxx miles anyone had this problem before? Also is it bad if I drive it with the check engine light on? Thanks for any help!

 

Need to change your camshaft position sensors and knock sensor.