my car cuts out when driving, has a rough idle on 2002 Ford Taurus

replaced spark plugs, wires, oxygen sensors and car still cuts out and jerks engine light still comes on. any suggestions.

Asked by for the 2002 Ford Taurus
You need to put a scanner on this vehicle and see what code comes up, I think autozone still does this.
thank you for your assistance. took to autoparts store hooked up to scanner. 4 cylinders misfired, needs new crank shaft position sensor, egr valve needs cleaning, lack of upstream fuel flow. Any recomendations on the cylinder misfire
change the crankshaft sensor first and clean the EGR and see if that solves anything before going any farther
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