VSC, TRAC off , Check engine lights are on. Getting a jerk shifting from park

What is your question?

Recently a couple of days after an oil change while driving back home from work the VSC light with the check-engine light came on. went to Autozone to get a reading for check-engine, no code was read. However, getting a mild jerk when putting to drive or reverse. Also mine is a V6 engine and used to race up immediately when you press on the gas. Now it takes a few minutes to get to the proper speed. Getting Jerk whenever you shift from park to drive or shift to reverse from drive too. After i get the TRAC light off and VSC off, when I shift to reverse drive, I get a slight jerk and the lights get on. Also performance the drive is not a it was before. Need to press on the gas for it to accelerate vs earlier a slight push would accelerate.What could be wrong? what is the estimated repair cost to fix the issue

What makes this problem better or worse?

About the same

How long has your 2005 Toyota Highlander had this problem?

few days