ABS and traction control lights are on and it shifts hard in the fourth and overdrive

So my ABS light I think is burnt out but is still on, the traction control light is on and the speedometer kind of works after fifty miles an hour but then bounces around. It shifts very hard from fourth to overdrive and it shifts in and out of gear too. The wheel hubs are new with the senors and wires. I had the speed sensor on the transmission replaced and the connector going to it. I do not have a check engine light anymore, but it comes and goes and the codes that do come up. When it comes on is P1571 and that is it. I cannot tell if the ABS module is going bad but I am not sure. Any help will be needed thanks.