Unexplainable problem with the engine, ESP and EPC lights turn on?

Two things to mention first, car battery was tested and was at 27% health with 1% charge. The problem mostly occurs when I slide in snow/ice, in general when ESP comes on. On the dash appears EPC light and check hybrid system for 1 second, the engine sounds like it's going to fall off, vibrates very hard I can hear all the plastic covers vibrating to the side, almost like the engine has disconnected, that's the best I can imagine. When scanned, a fault appears on Camshaft position sensor. I changed the sensor, took it to a shop to get checked, they said the engine is in mint condition mechanically. What could this be? I should mention one thing I noticed, I can drive normally and nothing is wrong and as soon as the ESP kicks in for whatever reason and the check appears for a second and the engine sounds etc, the rest of the drive is very problematic, after this problems comes on once, it can persist through the drive even if ESP didn't show it kicked in.