So for a few days my VDC and SLip lights have been on steady. I took the car to the stealership and they did a $120 diagnostic and told me that i needed to buy a G Sensor.
It costs $927 +tax,

What is this G Sensor?
has anyone has to replace this?

 

I remember opening the center divider on my G, and there were a couple little boxes sitting just behind the shifter. I don't know what they each do, but I would guess those are the sensors. Try a junkyard?