Jerks/shakes and gears start blinking

My car listed above E90 drives well, but when I get into traffic or idle for sometime it starts to shake/jerk in drive or reverse. The gears on dashboard start blinking. There is a loud clicking sound just below the gear lever.

The issue started on the very same day I took for a decat for a separate issue. Am not sure if this was just coincidence.

I took it to a friend for a scan and it was throwing these errors not sure which ones relate to the issue at hand 51AD, 3EF6, 4DF3, CF16, CF15. There is quite of these CF errors.

I made a video of it doing just to help with my explanation. https://youtu.be/wHusJNxbA38

Any thoughts appreciated.

Kind regards.