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What does it mean that the ESC is off and service traction control? on 2009 Chevrolet Malibu

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When I accelerate the car sputters and can't seem to shift to the next gear. The ESC is out is display and service traction control. If I ease off the gas it shifts and accelerate slugishly. I had it plugged in to read the error codes. I was told the O2 sensor or the cat converter need to be replaced.
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have the codes scanned from those modules and post. esc is elect susp control and relates to traction control
There were multiple codes. I had them clear the codes and I drove it until it faulted again and then rescanned. Intake Cam Position Actuator
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